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LIN-bus HID Lamp
Levelling Stepper
Motor Control Using
Motorola 908E625
Reference Design
M68HC08
Designer Reference
Manual
Microcontrollers
DRM047
Rev. 0, 12/2003
MOTOROLA.COM/SEMICONDUCTORS
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LIN-bus HID Lamp Levelling
Stepper Motor Control Using
Motorola 908E625 Reference
Design
Designer Reference Manual — Rev 0
by: Libor Prokop, Petr Cholasta
MCSL, Rosnov
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wholly owned subsidiary of Motorola, Inc.
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Table of Contents
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Section 1. Introduction
1.1
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
1.2
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
1.3
HID Headlamp Levelling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
1.4
LIN-bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
1.5
Definitions and Acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
Section 2. System Concept
2.1
System Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
2.2
LIN Stepper Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
2.3
LIN Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
2.4
Personal Computer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Section 3. Hardware Description
3.1
Master Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
3.2
Slave Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Section 4. Messaging Scheme Description
4.1
Axis and Signal Providers and Acceptors. . . . . . . . . . . . . . . . .35
4.2
LIN Leveller Basic Messaging . . . . . . . . . . . . . . . . . . . . . . . . .36
4.3
LIN Leveller Configuration Messaging . . . . . . . . . . . . . . . . . . .37
Section 5. LIN Master Software Description
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5.1
State Machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
5.2
Data Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
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Section 6. LIN Stepper Software Description
6.1
LIN Stepper Software Data Flow . . . . . . . . . . . . . . . . . . . . . . . 51
6.2
LIN Stepper Software Application State Diagram. . . . . . . . . . . 62
6.3
LIN Stepper Software Implementation . . . . . . . . . . . . . . . . . . .65
Section 7. User Interface Description
7.1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
7.2
PC Master Software General Overview . . . . . . . . . . . . . . . . . .71
7.3
LIN-bus Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
7.4
Slave Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
7.5
Recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77
7.6
Oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
7.7
Programming and Configuration. . . . . . . . . . . . . . . . . . . . . . . .83
Section 8. Conclusion
Section 9. References
Appendix A. Hardware Schematics
A.1
LIN Master Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . . .93
A.2
LIN Stepper Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . .94
Appendix B. 908E625 Advantages and Features
Appendix C. LIN Frames and Signals
C.1
LIN Leveller Basic Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
C.2
Node ID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100
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C.3
LIN Leveller Configuration Frames . . . . . . . . . . . . . . . . . . . . .101
C.4
Possible Software Extension Programming via LIN . . . . . . . .108
Appendix D. LIN Stepper Software Data Variables
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Appendix E. System Setup
E.1
Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
E.2
Jumper Settings of Master and Slave Boards . . . . . . . . . . . .117
E.3
Required Software Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
E.4
Building and Uploading the Application . . . . . . . . . . . . . . . . .118
E.5
Executing the LIN HID Demo Application . . . . . . . . . . . . . . . .120
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List of Figures
Figure
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1-1
2-1
2-2
3-1
3-2
3-3
3-4
3-5
5-1
5-2
5-3
5-4
5-5
5-6
6-1
6-2
6-3
6-4
6-5
6-6
7-1
7-2
7-3
7-4
7-5
8-1
8-2
Title
Page
System Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
System Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
PC Master Software Principle. . . . . . . . . . . . . . . . . . . . . . . . . . 25
Master Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
Master Board Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
LIN Stepper (Slave) Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
LIN Stepper Controller (Slave) Board Schematic . . . . . . . . . . . 30
908E625 Blocks Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Software State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
PC Master Mode Data Flow Chart - Part1 . . . . . . . . . . . . . . . . 44
PC Master Mode Data Flow Chart - Part2 . . . . . . . . . . . . . . . . 46
Master Mode Data Flow Chart . . . . . . . . . . . . . . . . . . . . . . . . .47
Debug Mode Data Flow Chart . . . . . . . . . . . . . . . . . . . . . . . . .49
Pass Mode Data Flow Chart. . . . . . . . . . . . . . . . . . . . . . . . . . . 50
LIN Stepper Software - Data Flow 1 . . . . . . . . . . . . . . . . . . . . .53
Motor Position and Speed Control - Service
Updated Requests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
Motor Position and Speed Control - Service
Updated Actual Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
Frequency Acceleration and Deceleration - Flow Chart . . . . . . 58
LIN Stepper Software - Data Flow 2 - Configuration . . . . . . . . 61
LIN Stepper Software Application State Diagram. . . . . . . . . . . 63
PC Master Software Main Page . . . . . . . . . . . . . . . . . . . . . . . .72
LIN-bus Control Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Recorder Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Oscilloscope Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
Programming and Configuration Page . . . . . . . . . . . . . . . . . . . 84
Slow-Fast Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
Low-High (Amplitude) Signal . . . . . . . . . . . . . . . . . . . . . . . . . .88
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8-3
A-1
A-2
B-1
C-1
E-1
E-2
E-3
E-4
E-5
E-6
Road1 Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
LIN Master Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . . .93
LIN Enhanced Stepper Board Schematic . . . . . . . . . . . . . . . . .94
908E625 Simplified Block Diagram . . . . . . . . . . . . . . . . . . . . . 95
Configuration Parameters Addressing . . . . . . . . . . . . . . . . . .108
LIN HID Demo Application . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Programming and Debugging Application - Detail . . . . . . . . . 117
Metrowerks Compiler with lin_stepper.mcp . . . . . . . . . . . . . . 119
Bootloader Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120
Communication Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Variables Source page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122
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List of Tables
Table
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3-1
3-2
3-3
5-1
6-1
7-1
7-2
7-3
C-1
C-2
D-1
E-1
Title
Page
Connector J2 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Connector J3 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Connector J4 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Debug Line Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Stepper Controller Software Memory Utilization. . . . . . . . . . . . 70
LIN-bus Control Page and Variable Watch Variables
Comparison - Loop1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
LIN-bus Control Page and Variable Watch Variables
Comparison - Loop2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
LIN-bus Control Page and Variable Watch Variables
Comparison - Status Notes and State Buttons . . . . . . . . . . . . . 83
LIN Leveller Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
LIN Leveller Configuration Frames . . . . . . . . . . . . . . . . . . . . .103
Stepper Controller Software Data Variables. . . . . . . . . . . . . .111
Master and Slave Boards Jumper Settings . . . . . . . . . . . . . . 117
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Section 1. Introduction
1.1 Overview
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This reference design describes the development of a LIN based High
Intensity Discharge (HID) headlamp levelling system, which controls the
stepper motors in the lamp module to compensate for the motion of the
vehicle. (In this implementation, the vehicle’s movement is simulated on
a PC). The design consists of a master control board that is based on a
16-bit HCS12 MCU, a PC with graphical user interface (GUI) and slave
nodes that control the levelling stepper motors (see Section 2. System
Concept for a full description). The slave nodes are driven by an
innovative dual-die product (908E625) that contains an
industry-standard FLASH based, M68HC08 MCU and an SMOS power
die that includes VReg, LIN interface, Hall Sensor interface and
high-side and low-side drivers. (See appendices and data sheet for
additional information.)
.
Figure 1-1. System Concept
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Introduction
The concept of HID lighting levelling, the LIN-bus protocol, and the
general system concept are given to provide the reader with some
valuable background information. The hardware and software (for both
master and slave) are described in detail to allow the design and
implementation to be fully understood. Finally, a description of the user
interface is provided to demonstrate the ease of use and flexibility of the
system.
1.2 Summary
The reference design demonstrates that the HID lamp levelling system
can be controlled over the LIN-bus, and that several system benefits can
be achieved using this method, compared with the conventional wired
implementation. These benefits include system configuration, as the
software and parameters can be updated over the LIN-bus, and
scalability, as it is easier to add functions to a bus-based application. In
addition, using the 908E625 dual-die device offers a low-cost
implementation, as the system cost is reduced due to the minimal
external hardware required. The 908E625 provides all the functions
necessary to implement the slave nodes, and its small footprint and
on-board FLASH make this device ideal for many stepper motor control
applications.
1.3 HID Headlamp Levelling
At the present time, car front lighting systems are changing rapidly.
There are many techniques that can improve visibility under low light
conditions. One of the requirements is automatic vertical beam control.
This is necessary for headlamps based on discharge lamps.
Other systems are Bi-Xenon headlamps. Today’s Bi-Xenon headlamp
operates with one single Xenon bulb and creates both low beam and
high beam. The cut-off is generated via a special shield, which can be
flipped. The shield control is provided by means of an actuator, which
can be a motor or a solenoid.
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Introduction
LIN-bus
The low beam of today’s headlamps is characterized by a specific shape
and distribution regulated by ECE regulations. Independent of the
speed, the type of road, and the weather conditions, the headlamps of
today are always constant. But we will have next generations Advanced
Front Lighting (AFS) systems soon. A new lighting system can be
adopted to this various conditions. The target is to achieve better
visibility at night, when directing the lights according to the steering
wheel angle or due to the speed. To see where the car is going, rather
than putting the light always straight, is the background of this idea. So
we have horizontal beam control. Other systems use an auxiliary
bending lamp. See Section 9. References: 3, 4, 5, 6, 7, and 8.
Advanced headlamp systems are quite complex. They need
sophisticated optics, sensors and actuators. So, today the system costs
targets their implementation to high-end car segments. If we lower the
cost, we spread them to all car segments. A key factor in lowering the
system cost is integration and the use of reasonable components and
protocols.
This reference design describes a good solution for headlamp levelling
systems based on stepper motor actuators with a possibility of vertical
and also horizontal beam control. The system can benefit from a single
chip solution and communication via low-cost LIN-bus protocol.
1.4 LIN-bus
All modern car electronic communication is based on serial bus
protocols. These have many advantages over classical wired systems.
For example, a control system with stepper motor actuators can be split
into distributed controllers connected with a single-wire bus. There is no
doubt that this bus system saves on wiring and connectors, so the
system cost is significantly reduced.
The LIN-bus serial communication protocol (see Section 9.
References, 2) was designed for automotive applications, but it can also
be used for other devices (white-goods, printers, and copiers, for
example). In the case of car-body electronics, it is used for
air-conditioning, mirror control, seat control, and light levelling. The
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Introduction
advantage of LIN-bus over other bus protocols (like CAN) is low system
cost. This is because the LIN-bus protocol is based on standard and
cost-effective serial SCI (UART compatible) hardware modules. These
are implemented on most Motorola MCU/DSP devices. An enhanced
SCI is called ESCI.
Other serial bus protocols like CAN require a specialized hardware
module. They can have higher communication speed than LIN-bus. But
the overall system cost of such systems is much higher. Therefore many
of car electronics systems should be based on LIN-bus protocol.
This reference design shows that the LIN-bus protocol speed is fully
sufficient for a headlamp leveller with a stepper motor actuators. The
advantage versus other bus protocols, such as CAN-bus, is low system
cost.
1.5 Definitions and Acronyms
The definitions and acronyms used in this reference design are listed
below.
(signal) Acceptor
the device which receives and responses to
a bus signal
AFS
Advanced Front Lighting System
Cairone
see Power Die
ESCI
Enhanced Serial Communication Interface
DSP
Digital Signal Processor
ECT
Enhanced Capture Timer
HID Lamp
High Intensity Density headlamp
LIN Leveller
the system described in this reference
design. It consists of the LIN master and
LIN stepper controllers
LIN-bus
a local interface network standard for serial
asynchronous communication (see
Section 9. References, 2)
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Introduction
Definitions and Acronyms
LIN Master
master board with LIN master software
LIN Master Software
the LIN-bus master software for stepper
motors control and communication
LIN SIO Wire
LIN-bus signal (Serial Input Output) wire
LIN Stepper Controller
LIN-bus slave board with General Purpose
IC 908E625 with LIN Stepper software
LIN Stepper Software
the LIN-bus slave stepper motor control
software for 908E625 described in this AN
LIN Stepper Board
slave stepper board hardware for LIN slave
stepper controller. The PCB layout is same
as LIN Enhanced Stepper Board. Some
parts are not populated.
LIN Enhanced Stepper
Board
slave stepper board hardware for LIN
Master with sensor connector and other
components
LIN Master Board
master board hardware for LIN Master
MCU
microcomputer unit
PCB
printed circuit board
Power Die
part of 908E625 with H-bridges LIN
physical layer high-side switch connected
to the MCU part with SPI interface. In some
references, the Power Die chip is called
Cairone
SCI
Serial Communication Interface module
(outside Motorola called also UART)
(signal) provider
the device which send the slave task of the
bus signal
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Section 2. System Concept
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The system application was designed to control stepper motor actuators
from a GUI running on a PC. The PC is connected to the LIN Master
board via RS232 serial ports and they form the master controller. The
LIN Master board is then connected to the LIN Stepper Controller slaves
via a serial single-wire LIN-bus. The master controller can handle
several stepper motor actuators, so it can demonstrate levelling of two
headlamps around vertical and horizontal axes. Each actuator consists
of one stepper motor and LIN Stepper Controller slave node. The
actuators control positioning around a dedicated axis.
The control system consists of the following modules:
•
Personal Computer
•
LIN Master – LIN master node
•
LIN Stepper Controller – LIN slave node
Each module is programmed with dedicated software.
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System Concept
Application Control GUI
pc master s/w
Master HC12 S/W
LIN Stepper Controller
LIN Stepper
Slave HC08 S/W
LIN Master Board
LIN physical
interface
PM908E625
LIN bus
Stepper
Axis 2
HC12 CPU
RS232
LIN Stepper Board
Stepper
Axis 3
RS-232
Program/
Debugging
Interface
Stepper
Axis 1_1
Stepper
Axis 1_2
Head Lamp R
Head Lamp L
Figure 2-1. System Concept
2.1 System Features
•
LIN-bus Interface rev 1.2
•
Bus speed 19.2 kbps
•
Slave IC without external crystal or resonator
•
Slave node clock synchronization ±15%
•
Each LIN slave controls one biphase bipolar stepper motor
•
Motor phase current limitation up to 700 mA
•
Supply voltage 12 V d.c.
•
Stepper motor control with stepping acceleration and deceleration
ramp
•
Stepping frequency up to 2500 Hz
•
Slave parameters configuration via LIN-bus
•
Slave LIN signals reconfiguration via LIN-bus
•
LIN signals defined for 2D control with 3 (and “half”) axes
•
Embedded code written in C-language
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System Concept
LIN Stepper Controller
2.2 LIN Stepper Controller
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The LIN Stepper Controller is the LIN-bus slave node. It does the
following:
•
controls bi-phase bipolar stepper motors to a required position
with automatic speed acceleration and deceleration
•
communicates with the master node via LIN-bus
•
provides LIN-bus clock synchronization (the slave node uses
internal on-chip oscillator with no external components)
•
provides parameters configuration/programming via LIN-bus
when requested by LIN-bus configuration signals
•
provides LIN signals reconfiguration via LIN-bus to a required axis
when requested by LIN-bus configuration signals
All the necessary hardware of this LIN-bus slave node is comprised in
one SOIC 54-lead packaged 908E625, with some external connectors
and capacitors. The 908E625 includes the Motorola M68HC08 core, and
its functionality is determined by the LIN Stepper software.
The software provides all control functionality for stepper positioning
control. The absolute required position and maximum speed are
determined by LIN signals from the master.
The LIN Stepper Controller clock is based on an internal RC on-chip
oscillator. Therefore, the LIN-bus driver (using the ESCI module on
908E625) can handle the LIN-bus clock synchronization range
according to the LIN-bus specification 1.2. (see Section 9. References,
2)
The LIN stepper controller has the capability to change some
configuration parameters via the LIN-bus. These parameters can be
stored in FLASH memory. For this purpose, there are LIN-bus
configuration signals (Master Request and Slave Response frames —
see Section 5. LIN Master Software Description) defined for the
system.
•
node ID number (0 to 255)
•
uAppConfigByte1
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•
motor block and run current limitation
•
motor stepping start frequency
•
motor stepping acceleration
•
period motor stop time-out
•
motor stall position
•
motor parking position
•
motor position correction
Four groups of LIN signal frames are defined to control the dedicated
axis:
•
Axis 1_1 (to be used as horizontal axis, right lamp) signals group
•
Axis 1_2 (to be used as horizontal axis, left lamp) signals group
•
Axis 2 (to be used as vertical axis, right lamp) signals group
•
Axis 3 (to be used as vertical axis, left lamp) signals group
The reconfiguration of the LIN signals (see above) means that the slave
can be programmed to be active only on one of the four signal groups
(so it ignores signals for other actuators). This signal group can also be
chosen from the LIN-bus master with the LIN-bus configuration signals
(Master Request and Slave Response frames). The benefit of this
solution is that there can be one universal controller software for any axis
actuator. It can then be configured via LIN-bus for any axis, as required.
2.3 LIN Master
The function of the master board depends on the selected mode, chosen
by means of a jumper on the board (see Section 3.1. Master Board).
The modes are as follows:
•
PC master mode (PCM)
•
Master mode (M)
•
Debug mode (D)
•
Pass mode (P)
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LIN Master
2.3.1 PC Master Mode
The master board is connected via an RS232 line to the PC (with
installed PC master software), and acts as a LIN Master node controlled
by the user interface (HTML page).
The LIN Master performs the following functions:
•
LIN-bus Run/Stop/Sleep/Wake-up control
•
Periodical sending/receiving of up to 2*3 LIN-bus frames within
two timing loops
•
Possibly fully control the position of up to two independent LIN
steppers
•
Manual or automatic generation of the required position of LIN
stepper. In the case of automatic generation, a read-out of a
predefined signal curve (simulation of real application) is provided
•
LIN Stepper configuration and programing (using master request,
slave response frames defined for this application)
2.3.2 Master Mode
The master board acts as a an autonomous LIN Master node (without
using a personal computer). It is similar to the PC master mode in
automatic mode (automatic generation of the required position of the LIN
Stepper).
2.3.3 Debug Mode
In this mode it is possible to program and debug any LIN Stepper
controller via a special 10-pin connector. The LIN Master performs the
following two functions:
•
it gives some defined signals to the 10-pin connector to put the LIN
Stepper controller into MON08 debugging mode (see Section 9.
References, 10, Section 10. Monitor ROM).
•
it provides a serial communication gateway between the personal
computer (using RS232 line) and the 10 pin connector
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The personal computer provides software download or debugging with
a dedicated programming (e.g. Pemicro) or debugging software (e.g.
Metrowerks Hiwave Debugger)
2.3.4 Pass Mode
Master board acts as a gateway between RS232 and LIN-bus (copy
signals between RS232 and LIN-bus). The mode can be used, if LIN-bus
protocol is implemented in the personal computer.
2.4 Personal Computer
The personal computer is used for application control using a graphical
user interface. The PC host computer communicates with the LIN
Master via the RS232 serial port.
The graphical user interface is implemented as an HTML script running
on PC master software (see Section 9. References, 1). The PC master
software is a universal software tool for communication between the
personal computer and embedded applications based on an MCU or
DSP. The principle of the PC master software is shown in Figure 2-2.
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Personal Computer
Personal Computer
GUI Control Page - html
LIN Master API
transferred LIN Master variables (any)
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PC master software
RS232
LIN Master
LIN Master software
PC master software
Driver
LIN Master variables
Master Application
Figure 2-2. PC Master Software Principle
It consists of a PC master software running on a PC and a PC master
software driver with protocol implementation running on the LIN Master.
The driver is implemented as a resident software routine (interrupt
based) included in the LIN Master software. The communication medium
is RS232 in this headlamp levelling application.
The basic feature of the PC master software is that all the MCU/DSP
variables can be easily transferred to the personal computer for reading
or modification. The user can simply specify which of them will be
read/modified and the period of each variable reading.
NOTE:
The PC master software provides a communication layer between any
LIN Master software variables and the graphical interface control page,
which is written in HTML language.
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The LIN Master application interface (API) is then a defined set of LIN
Master variables. The GUI is then realized as an HTML script file, which
reads/modifies the variables in the API. The graphical user interface is
described in Section 7. User Interface Description.
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Section 3. Hardware Description
3.1 Master Board
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The master board (Figure 3-1) is supplied with 12 V from an external
source and can switch LIN supply currents up to 5 A. It can be used in
four different modes, as described in Section 2.3. LIN Master,
depending on position of the jumper on the MODE SELECTION header
(currently PCM -> PC master mode). After each change of mode, the
RESET button must be pressed.
DEBUG
MODE SELECTION
RS232
MONs
+12V
RESET
BUTTON
LIN
Figure 3-1. Master Board
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Hardware Description
LIN
physical
interface
Debug
Power
stage
Debug
physical
interface
LIN
RS232
physical
interface
Microcontroller
MC9S12DP256B
RS232
The heart of the system (see Figure 3-2) is the 16-bit MC9S12DP256B
MCU (see Section 9. References, 12), which is supported by the bus
drivers and power stage. The MC33399 (see Section 9. References,
11) is used as the LIN interface, and can drive up to 16 slaves.
+12V
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Figure 3-2. Master Board Concept
This board is protected against incorrect supply voltage polarity and
provides this feature to all LIN Stepper Controllers supplied by the
Master Board.
3.2 Slave Board
The LIN Stepper Controller hardware is based on the 908E625 device.
The hardware consists only of few components as shown in Figure 3-3.
It is due to the fact that all the functionality is provided by the 908E625
device.
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Hardware Description
Slave Board
J2 - Debugging
J3 - Motor
J2 - LIN
Figure 3-3. LIN Stepper (Slave) Board
CAUTION:
A slave board based on 908E625 can be even smaller than the LIN
Enhanced Stepper Board. The PCB from Figure 3-3 is universal.
The sensor support - connector J4 and resistors R2, R1 from Figure A-2
are not populated. It ‘s because they are not used for current LIN Stepper
Controller with the LIN Stepper software.
Also the LED diode D1, R4 and headers J5, J6 are not necessary for
system functionality.
The PCB layout was designed as an universal LIN Enhanced Stepper
Board according the schematics in Figure A-2. It has some additional
sensor inputs. This could be used for some applications with a Hall
sensor or analog signal feedback.
The LIN Stepper Controller does not use any sensor feedback. The
schematics of the LIN Stepper Board s displayed in Figure 3-4. It uses
the LIN Enhanced Stepper Board PCB layout, but some components are
not populated.
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Hardware Description
VSUP
J3
1
+
POWER_HDR4
C1
100p
42
41
GND
1
54
53
52
50
49
14
J5
HDR 1
SSB
J2
10
9
8
7
6
5
4
3
2
1
11
8
7
SensorA1 6
SensorA2 2
1
PTB4/AD4
PTB3/AD3
PTA1/KBD1
PTA0/KBD0
RST
IRQ_RQ
IRQ_IN
VDD
VSS
PTC4/OSC
5
4
3
CON/10MICROMATCH
BEMF
FGEN
12
13
RST
10
17
9
VDD
VDD_A
51
VDD_A
C4
100n VSS_A
VSS
JP1
1IRQ_IN
2IRQ_RQ
48
47
46
43
44
45
31
27
3
4
VSUP
20
24
U1
VSUP
C3
100n
VSUP
C2
330u/35
LIN
HB1
PTE1/RxD
RxD
HB2
PTA0/KBD0
PTA1/KBD1
PTA2/KBD2
PTA3/KBD3
PTA4/KBD4
PTA6/SSB
HB3
HB4
PTB1/AD1
PTB3/AD3
PTB4/AD4
PTB5/AD5
PTB6/AD6/TBCH0
PTB7/AD7/TBCH1
HS
PA1
H1
PTC2/MCLK
PTC3/OSC2
H2
H3
PTC4/OSC1
PTD0/TACH0/BEMF
PTD1/TACH1
HVDD
VDD
RSTB_MCU
RSTB_SMOS
VSS
IRQB_MCU/FLSEPGMN
IRQB_SMOS
FLSVPP
SSB
VREFH
VDDA
EVDD
VREFL
VSSA
EVSS
FGEN
BEMF
NC
NC
NC
GND
4
GND
3VSUP_LIN
2
30
J1
1
2
25
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5
23
6
26
HDR 6X1
29
32
28
39
37
36
35
34
38
+ C5
40
GC2 VDD_A
CON
IRQ_RQ
19
SSB
15
FGEN
16
BEMF
GC1
CON
VDD
VDD
VSS
2u2/10
18
VDD_A
VSS_A
R4
1k5
D1
LED_YELL
33
22
21
PM908E625ACDWB
HDR 2X1
GND
GC3
CON
Figure 3-4. LIN Stepper Controller (Slave) Board Schematic
The 908E625 schematics with the LIN Stepper Controller functional
blocks is in Figure 3-5. The he functional blocks are described below.
3.2.1 MCU and Power Die with SPI
MCU 908EY16 chip and Power Die chip (Cairone) forms the 908E625
device in one package. These two chips are connected with SPI signals
and some other signals. So the control of the Power Die (like
Half-bridges control) is provided with SPI communication. The SPI
communication pins MISC, MOS, SPCLK are connected inside of the
908E625 package (see Section 9. References, 9).
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Hardware Description
Slave Board
MCU 908EY16
Power Die
SPI
Stepper
Motor
H-bridge
LIN-bus
Sensors
Figure 3-5. 908E625 Blocks Usage
3.2.2 LIN-bus
The LIN-bus is connected to the connector J1. The capacitor C1 filters
the bus and the signal is connected to the pin LIN (20) of the physical
layer. The physical layer is internally connected to the PT0/TXD pin of
the MCU chip. The PTE1/RXD pin 40 is connected to RxD pin 41
externally. The IRQB_SMOS pin 18 from the Power Die module and
IRQB_MCU pin 9 are used to initiate MCU interrupt from the Power Die
chip. In LIN Stepper Controller this is used for MCU wake up from the
sleep via wake-up. Therefore jumper JP1 must be connected for user
(standard operational) mode.
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3.2.3 Software Download and Debugging
Connector J2 is used for software download or debugging. This is based
on so called MON08 mode (see Section 9. References, 10, Section 10
Monitor ROM)
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The signals PTB4/AD4, PTB3/AD3, PTA1/KB1, PTA0/KB0, IRQ_IN
must be set according to Table 3-1 to put the MCU into MON08 mode
for software download or debugging (see Section 9. References, 10).
RST is the MCU reset pin. The MON08 mode must be timed with
external clock - PTC4/OSC.
There must be 9V for debugging on the IRQ_IN pin. Therefore the
jumper JP1 must be open. In user (standard operational) mode the
IRQ_IN must be attached to the IRQ_OUT from the Power Die module.
This is used for some operations like wake-up condition, where the
Power Die module. Therefore JP1 must be closed for user (standard
operational) mode.
Pin1 PTC4/OSC is precise clock input for MON08 mode. There must be
external clock source for the software download and debugging.
Table 3-1. Connector J2 Signals
Pin No
Input/
Output
Pin Name
Description
1
PTC4/OSC
19,6608kHz
2
VSS
Ground
GND
3
VDD
5V supply
5V
4
In
IRQ_IN
MCU IRQ Input
9V
5
Out
IRQ_RQ
Power Die IRQ
output
jumper JP1 open
6
In
RST
MCU Reset input
falling edge
7
In/Out
PTA0/KB0
MON08 mode
serial
communication
19.200 kBaud
8
In
PTA1/KB1
MON08 mode
GND
9
In
PTB3/AD3
MON08 mode
GND
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MON08 mode
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Hardware Description
Slave Board
Table 3-1. Connector J2 Signals
Pin No
Input/
Output
Pin Name
Description
MON08 mode
10
In
PTB4/AD4
MON08 mode
Vdd = 5V
(via 10k resistor)
3.2.4 Stepper Motor Dual H-bridge and High Side Switch
The bi-phase bipolar stepper motor is powered with four half-bridges.
They are attached to the connector J3. The connector pin 6 is high side
switch which can possibly be used for lamp on/off control
Table 3-2. Connector J3 Signals
Pin No
Input/Output
Signal
range
1
GND
GND
GND
2
Out
HB1
motor phase 1-1
0-5V
3
Out
HB2
motor phase 1-2
4
Out
HB3
motor phase 2-1
5
In
HB4
motor phase 2-1
6
In
High Side
0-5V
0-5V
3.2.5 Power Supply and Decoupling
The LIN Stepper Controller is powered from LIN-bus connector. The
Power Die has internal voltage regulator with the outputs VDD(pin30)
and VSS (pin 40). This is used to power the analog VDDA,VSSA and
digital part EVDD,EVSS of the MCU chip. The connections and
capacitors C5, C4 were used for decoupling VDD,VSS_A from
VDD_A,VSS_A
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3.2.6 Hall Port and Sensor
The LIN Stepper Controller does not use any sensors. Therefore the
connector J4 is not displayed in Figure 3-4. However the LIN Enhanced
Stepper Board (Figure A-2) was designed for possible use of Hall
sensors or analog signals. There is a place for connector J4, resistors
R2, R1.
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Table 3-3. Connector J4 Signals
Pin No
Input/Output
Signal
range
1
GND
VSS_A
GND
2
In
Sensor Analog 1
0-5V
3
In
Sensor Hall 1
4
In
Sensor Analog 1
5
In
Sensor Hall 2
6
In
Sensor Power Analog 1
7
In
Sensor Hall 3
8
Output
HVDD Switchable 5V
output to power sensors
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0-5V
0-5V
5V
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Designer Reference Manual — DRM047
Section 4. Messaging Scheme Description
This section describes LIN messaging.
4.1 Axis and Signal Providers and Acceptors
As shown in Figure 2-1, each LIN Stepper Controller node has a relation
to the concrete controlled axis. The LIN messaging scheme was
designed to support this concept. Most of the signal in Table C-1 has 3
or 4 modification, which differs only with the identifier byte. Each node is
programmed to be an acceptor (acts upon) and providers (sends the
response fields) for one exclusive signal set. The signal sets are marked
according to the controlled axis:
•
A1_1
•
A1_2
•
A2
•
A3
The signal provider and acceptor is determined by the preprogrammed
axis.
A special meaning is given to the horizontal Axis1. It is expected that one
control signal is sufficient for both right and left headlamp. Therefore two
nodes with signal sets Axis1_1 and Axis1_2 are acceptors for Axis1
signals. This uses and demonstrates the LIN-bus multicast concept.
There are two ways to program the LIN Stepper Controller node to a
dedicated axis:
1. Setting appropriate target Axis1_1, Axis1_2, Axis2, Axis3 in the
lin_stepper.mcp file. This will create the compiled code with the
required setting.
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Messaging Scheme Description
2. using LIN reconfiguration as described in Appendix C.3. LIN
Leveller Configuration Frames or Section 6.1.9. Reconfig LIN.
NOTE:
The user must guarantee that there will be no other nodes with the same
axis connected to one LIN-bus.
4.2 LIN Leveller Basic Messaging
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The basic message frames are used for standard control operation. The
frame provided by master node is:
•
frmPosCmd
The frames provided by slave nodes are:
•
frmPosStatus
•
frmAppStatus
A detailed description of the basic messaging frames and signals is in
Appendix C.1. LIN Leveller Basic Frames.
The scheduling of the signals is determined by the LIN Master. The LIN
Master setting is provided from the PC computer control page and is
described in the Section 7. User Interface Description. The master
serves two messaging loops. Each loop can handle up to three signal
frames (frmPosCmd, frmPosStatus, frmAppStatus). Each of the three
signal frames can be chosen according to a required axis. Any of the
three frames can be disabled.
Loop1 sends signals with period periodeSend_Loop1. This period can
be modified by the control page (see Figure 7-2). If all three frames are
enabled, the LIN Master controls consecutive sending of Loop1 frames
frmPosCmd, frmPosStatus, frmAppStatus immediately after each
other. Then it waits to get the periodeSend_Loop1 between sending. If
Loop2 is also enabled, the three frames of Loop2 are sent after Loop1.
The details are described in the Section 7. User Interface Description.
The default value of the periodeSend_Loop1 is 30 ms.
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Messaging Scheme Description
LIN Leveller Configuration Messaging
4.3 LIN Leveller Configuration Messaging
The Master Request and Slave Response frames are used for the LIN
Stepper Controller configuration. The configuration allows adaptation of
the LIN Stepper software. Each configuration frames is used to configure
the LIN Stepper Controller with node ID equal to the l_u8_rd_nodeID
signal (see Appendix C.3. LIN Leveller Configuration Frames).
The configuration process covers two functions:
Freescale Semiconductor, Inc...
•
Parameters Configuration
provides upload and download of the control parameter.
•
LIN Reconfiguration
changes the dedicated LIN Stepper Controller configuration. It sets its
LIN driver to select the frames and signals according to the defined axis.
A detailed description of the configuration messaging frames and signals
is in Appendix C.1. LIN Leveller Basic Frames, Appendix C.3. LIN
Leveller Configuration Frames.
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Designer Reference Manual — DRM047
Section 5. LIN Master Software Description
The software is described in terms of:
•
General State machine diagram
•
Data flow chart for each Master Board mode
5.1 State Machine
Figure 5-1 presents a general description of the implemented software.
The main routine consists of MCU Initialization and Mode selection
procedures.
5.1.1 MCU Initialization
Provides initialization of the microcontroller:
•
Ports A, H (pull-up/pull-down), M (wired-or), P (pull-up), S
initialization
•
Phase Locked Loop setup (Core is running on 48MHz)
•
Enable global interrupt mask bit
5.1.2 Mode Selection
Act as a device mode selection module. It tests the Port A (MODE
SELECTION header, see Section 3.1. Master Board) as long as one
out of four possible values (each of them is corresponding to one mode)
is recognized. The corresponding subroutine is initialized. In that routine
the program is running until reset or power die event. The modes were
described in Section 2.3. LIN Master.
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5.1.3 PC Master Mode Initialization
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The actions are following:
•
Turn on LIN supply voltage
•
Initialize SCI1 and PC master software driver
•
Initialize LIN driver (including initialization of SCI0 and ECT
channel0)
•
Set up ECT (each channels acts as an output compare and
causes the corresponding interrupt):
– channel1 (Loop1 timing)
– channel2 (Loop2 timing)
– channel3 (PC master software recorder)
•
Set all program flow control and state variables
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LIN Master Software Description
State Machine
Reset
MCU Init
Timer Channel 3
Interrupt
PC master
mode
Run
PC master
Recorder
PC master Interrupt
Mode Init
Master
mode
Control LIN communication
according to change of variables
by means of PC master
Debug
mode
Exchange data
between RS232 and LIN
Mode
Init
Mode Init
Sleep/Wake
request
Reload
variables
Programming and
Configuration
request
Send/Receive
Programming and
Configuration
frames
Mode
Init
Pass
mode
Mode
Selection
Send
Sleep/Wake-up
LIN frames
Run request
Enable
Periode timing
interrupts
Send/Receive
LIN frames
Exchange data
between RS232 and
Debug line
Wait for
Periode timing
interrupt
Send/Receive
LIN frames
Wait for
Periode timing
interrupts
Figure 5-1. Software State Diagram
5.1.4 Master Mode Initialize
Performs:
•
Turn on LIN supply voltage
•
Initialize LIN driver (including initialization of SCI0 and ECT
channel0)
•
Set up ECT channel1 (Loop1 timing) as an output compare
•
Enable ECT channel1 output compare interrupt
•
Set all program flow control and state variables
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LIN Master Software Description
5.1.5 Debug Mode Initialization
Sets:
•
MONs according to pin states on Port P (see Figure 3-1)
•
All program flow control and state variables
5.1.6 Pass Mode Initialization
•
Turns on LIN supply voltage
5.2 Data Flow
Four possible modes of the Master Board are discussed below. Each
mode is described with its dedicated flow charts. General overview is
possible gain over Figure 5-1.
5.2.1 PC Master Mode Program Flow
After initialization, the Master Board performs the actions described in
Section 2.3.1. PC Master Mode. The data flow charts are on Figure 5-2
and Figure 5-3. The meanings of the bubbles (states) are explained
below.
5.2.2 Slave Sleep/Wake-up, Programming and Configuration
Replaces a function that is able to send and receive the frames below
according to the states of the control variables (displayed above the
bubble) by the LIN-bus:
•
Sleep frame
•
Wake-up frame
•
Frames for configuration of the LIN-bus network
•
Programing parameters (displayed below the bubble) of LIN
Stepper Controller
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Data Flow
The meanings of the variables above and below the bubbles are
described in Section 7.7. Programming and Configuration excluding
LIN_SleepWakeReq, that is an element of Section 7.3. LIN-bus
Control.
5.2.3 Loop1/Loop2 Priority Selector
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If there is a request to communicate via the LIN-bus (LIN_RunStopReq),
the Loop1 timer (ECT channel1 output compare register) is set
according to the value of periodeSend_Loop1. That determinates the
next LIN communication time. The Loop2 timer (ECT channel2 output
compare register) is set in the same way (periodeSend_Loop2) but only
if the Loop2 is enabled (enableLoop2). Whenever the ECT channel1 or
channel2 interrupt arises, the priority of the service routine executing
(Send and Receive LIN messages) is resolved. Loop1 has the main
priority. If a Loop2 interrupt arises, the time remaining to the Loop1 timer
interrupt request is calculated. If it is recognized that the remaining time
is greater or equal to the time needed to service the Loop2 service
routine, then this process is enabled. In the opposite event, the task is
deferred. Then, as soon as the Loop1 request is satisfied, it immediately
services the Loop2 communication request. Note that there is one
exception to this rule; i.e. when the time between Loop1 timer interrupts
is always shorter than the time needed to service communication
initialized by Loop2. Then the frames of both loops follow each other with
minimal distances between them. The distance is determined by the
program flow delay, and the distance is negligible in comparison to the
time needed to transmit one LIN frame. Those states are indicated by a
note on the LIN-bus Control page. The page and the variables
mentioned in this subsection are described in Section 7.3. LIN-bus
Control.
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LIN Master Software Description
UploadParam
DownloadParam
StoreParam
MCUReset
LINReconfig
SendPositionCorrection
LIN_SleepWakeReq
LIN_Status
SynchMode_Loop1
No
No
Yes
Yes
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LOOP1_TIMER_Interrupt
LOOP2_TIMER_Interrupt
LIN_RunStopReq
enableLoop2
Loop1/Loop2
priority selector
Slave Sleep/Wake up,
Programming and
Configuration
paramArray
nodeID
uAppConfiByte1
data0_3
currentBlockRun
frequencyStart
acceleration
periodStopTimeout
positionStall
positionResetReq
None
enableTxPosition_Loop1
enableRxPosStatus_Loop1
Loop2 Control
(Next page)
enableRxStatus_Loop1
periodeSendMin_Loop1
periodeSend_Loop1
modeAutMan_Loop1
No
Yes
positionReqManual_Loop1
configProgramError
autCurveSelect
autReset_Loop1
positionReq_Loop1
FieldOfPositions
Loop1
Send and Receive
LIN messages
positionReqSent_Loop1
positionAct_Loop1
frequencyAct_Loop1
uAppFlags_Loop1
uAppErrFlags_Loop1
analogValue_Loop1
frequencyReq_Loop1
ctrlFlag_Loop1
TxPositionError_Loop1
RxPosStatusError_Loop1
RxStatusError_Loop1
Figure 5-2. PC Master Mode Data Flow Chart - Part1
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LIN Master Software Description
Data Flow
5.2.4 Loop1/Loop2 Send and Receive LIN Messages
Replaces function that provides (see Section 5. LIN Master Software
Description):
•
Send frmPosCmd
•
Receive frmPosStatus and frmAppStatus
All variables surrounding this bubble are described in Section 7.3.
LIN-bus Control.
5.2.5 Error Handling
Modules providing communication by the LIN-bus have incorporated
error handling in terms of recognizing the presence or absence of the
LIN Stepper Controller, and of no possibility of transmission (the LIN SIO
wire is held by the supply source, e.g. shorted to ground or to supply
wire).
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LIN Master Software Description
Loop2 Control
enableTxPosition_Loop2
enableRxPosStatus_Loop2
enableRxStatus_Loop2
periodeSendMin_Loop2
periodeSendReq_Loop2
Loop2
Send and Receive
LIN messages
positionReqManual_Loop2
frequencyReq_Loop2
ctrlFlag_Loop2
periodeSend_Loop2
positionReq_Loop2
positionReqSent_Loop2
positionAct_Loop2
frequencyAct_Loop2
uAppFlags_Loop2
uAppErrFlags_Loop2
analogValue_Loop2
TxPositionError_Loop2
RxPosStatusError_Loop2
RxStatusError_Loop2
Figure 5-3. PC Master Mode Data Flow Chart - Part2
5.2.6 Master Mode Program Flow
Provides actions described in Section 2.3.2. Master Mode. From
Figure 5-4, it can be seen that in this mode the functions dedicated to
Loop1 (Timing and Send and Receive LIN messages) are successfully
applied. These are used in PC master mode.
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LIN Master Software Description
Data Flow
5.2.7 Loop1 Timing
Sets ECT channel1 output compare register and waits for interrupt; set
by means of periodeMasterMode variable to 20ms.
5.2.8 Loop1 Send and Receive LIN Messages
Send frmPosCmd, receive frmPosStatus and frmAppStatus (see
Section 5. LIN Master Software Description). All data in transmitted
frames are predefined in MCU memory, including the required position
of the LIN Stepper Controller HID lamp, which is the read-out from
FieldOfPossition array - curve SLOW-FAST.
5.2.9 Error Handling
See Section 5.2.5. Error Handling
periodeMasterMode
Loop1
timing
LOOP1_TIMER_Interrupt
FieldOfPositions
Loop1
Send and Receive
LIN messages
positionReqSent_Loop1
positionAct_Loop1
frequencyAct_Loop1
uAppFlags_Loop1
uAppErrFlags_Loop1
analogValue_Loop1
frequencyReq_Loop1
ctrlFlag_Loop1
TxPositionError_Loop1
RxPosStatusError_Loop1
RxStatusError_Loop1
Figure 5-4. Master Mode Data Flow Chart
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5.2.10 Debug Mode Program Flow
A general overview may be gained from Section 2.3.3. Debug Mode
and Figure 5-5.
5.2.11 Debug/Programming Control
The Master Board hardware (see Appendix A. Hardware Schematics)
is prepared for using RxD, TxD, DTR and RTS RS232 signals, but
software implementation is based on RxD, TxD, and DTR signals, where
the DTR state is the determining function, i.e. either Debugging /
Programming (DTR - low level, LIN supply voltage on) or Reset (DTR high level, LIN supply voltage off). Similarly, on the Debug line output,
where the RSTB signal is not used, hardware allows it. Table 5-1 shows
the Debug line pin assignments and the relationship to the RS232 line
signals.
Table 5-1. Debug Line Output
Master Board signals
Pin number
Pin name
Pin type
DTR - High level
(Reset)
DTR - Low level
(Debugging and
programming)
1
CLOCK
Output
High impedance state
19,6608MHz clock
2
GND
Power
Ground
Ground
Open collector output
(transistor is turned off)
3
VDD
Output
Connected to ground
(discharging capacitors of
Slave Board -> push supply
voltage line to 0V)
4
\IRQOUT
Output
\IRQIN low level -> 0V
\IRQIN high level -> +5V
\IRQIN low level -> 0V
\IRQIN high level -> +9V
5
\IRQIN
Input
+5V (pull-up)
+5V (pull-up)
6
RSTB
Input
(not used)
0V (pull-down)
0V (pull-down)
7
DATA
Bidirectional
TxD signal is held in low level
Communication is opened,
RxD and TxD signals are
held in TTL levels
8
MON1
Output
High impedance state
0V
(Set by JP1 on Master Board)
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Data Flow
Table 5-1. Debug Line Output
Master Board signals
Pin name
Pin type
9
MON2
10
MON3
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Pin number
DTR - High level
(Reset)
DTR - Low level
(Debugging and
programming)
Output
High impedance state
0V
(Set by JP2 on Master Board)
Output
High impedance state
+5V
(Set by JP3 on Master Board)
Debug mode functionality was successfully tested at frequencies up to
20 kHz on the DATA pin.
MONs
RS232
LIN
PTS
PTP
Debug/Programming
Control
PTH
PTA
PTM
Debug line
Figure 5-5. Debug Mode Data Flow Chart
5.2.12 Pass Mode Program Flow
Is based on an endless software loop, that copies the RxD signal
(RS232) to the LIN SIO wire and then copies the LIN SIO wire signal
back to TxD (RS232) (see Figure 5-6). Functionality of the Exchange
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data procedure was successfully tested with data speeds up to
20 kBaud.
RS232
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PTS
Exchange
data
PTS
LIN
Figure 5-6. Pass Mode Data Flow Chart
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Designer Reference Manual — DRM047
Section 6. LIN Stepper Software Description
LIN Stepper Software is described in terms of:
•
LIN Stepper Software Data Flow
•
LIN Stepper Software Application State Diagram
•
Flow Charts
•
LIN Stepper Software Implementation
on the following pages
6.1 LIN Stepper Software Data Flow
Figure 6-1 and Figure 6-5 show the slave software data flow. It consists
of the processes described in following subsections.
The slave application control is processed according to LIN messages
from the LIN driver. According to received messages x_rd_y, the
application variables and states are set. The LIN messages are
described in Section 5. LIN Master Software Description.
Detailed descriptions of the data variables are in Appendix D. LIN
Stepper Software Data Variables. A description of the application
processes starts here.
6.1.1 Slave Application Control
The Slave Application Control is the software top level which determines
other processes states. It controls the application states according to
Figure 6-6. The eAppState variable reflects the application control
state. The Slave Application control process also interprets the LIN
signals and sets some Power Die variables using the SPI Driver.
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The other process’s states are controlled by functional calls from the
Slave Application control process and by dedicated variables. Variables
uAppFlags1 and uAppErrFlags reflect the system status and are set
and read by the three essential processes. The structure
sParameterRAM includes the system parameters that determine the
application behavior. The components of the sParameterRAM structure
can be changed using parameter configuration (see Section 6.1.8.
Config Param). Required position positionReq is derived from
l_u16_rd_positionReq signal and is used for Position and Speed
control process. Similarly, frequencyReq is created from
l_u8_rd_frequencyReq. Actual position positionAct from the Position
Sensing process is passed to the LIN message l_u16_wr_positionAct
signal. Similarly, for frequencyActLowHigh and
l_u16_wr_frequencyAct.
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LIN Stepper Software Description
LIN Stepper Software Data Flow
LIN Messages
LIN
Driver
l_bool_rd_AppInitFlag,
l_u8_wr_AppFlags1,
l_bool_rd_ClrFlag,
l_u8_wr_AppErrFlags l_bool_rd_PosResetFlag,
l_bool_rd_LightOnFlag
l_u8_rd_frequencyReq
l_u16_rd_positionReq
l_u8_wr_frequencyAct
l_u16_wr_positionAct
eAppState
sParameterRAM
Slave App.
Control
frequencyActLowHigh
positionAct
fun.
calls
positionReq
erPOUT,
erIFR,
erIMR,
erSYSCTL,
erSYSSTAT
sParameterRAM.curentBlockRun
sParameterRAM.uAppConfigByte1
fun.
calls
fun.
calls
SPI
Driver
POUT,
IFR,
IMR,
SYSCTL,
SYSSTAT,
HBOUT,
erHBCTL
uAppFlags1,
uAppErrFlags
Motor Stepping
Control
erHBOU,
erHBCTL
frequencyReq
fun.
calls
uMotStepControlFlags
periodStep
Position and
Speed Control
positionAct
timeMotStep
fun.
calls
Timer
Motor Step
Position
Sensing
Figure 6-1. LIN Stepper Software - Data Flow 1
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6.1.2 Position and Speed Control
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The Position and Speed Control provides stepper motor control to a
defined absolute position positionReq with the following functions:
•
linear acceleration and deceleration ramps from frequencyStart
to frequencyReq with ramp steepness
acceleration = deceleration
•
handles changes after required positionReq position update
•
handles changes after actual position positionAct update
•
handles changes after required frequency frequencyReq update
•
ads time instant PERIOD_STOP_TIMEOUT_MS after
deceleration ramp
The functionality of the Position and Speed Control Processes can be
explained using Figure 6-2, Figure 6-3, and Figure 6-4.
NOTE:
Speed (frequency) control is based on the fact that identical constant
acceleration is used for acceleration as for deceleration. Therefore, the
number of steps for speed acceleration is almost the same as for speed
deceleration.
1. Before the motor stops, the speed must be at frequencyStart, in
order not to lose the position.
In addition, according to dynamic behavior (oscillation), the motor is
better stabilized at stop if it provides few steps with the frequencyStart
speed.
2. Therefore we apply the reserve constant
DECEL_AFTERRAMP_RESERVE.
The last issue is a numerical reserve DECEL_NUMERICAL_RESERVE.
Because acceleration and deceleration ramps are calculated from
previous commutation step reserve, the number of steps for acceleration
ramp is higher than deceleration ramps steps. In order to fulfil condition
1, there is
3. DECEL_NUMERICAL_RESERVE
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LIN Stepper Software Data Flow
The variable positionDecelDistance is incremented during speed
acceleration. The actual and required position difference is compared
with the positionDecelDistance (with the DECEL_RESERVE) to find
the point where the speed deceleration ramp must start down to
frequencyStart.
DECEL_RESERVE = DECEL_AFTERRAMP_RESERVE + 2 + DECEL_NUMERICAL_RESERVE
Freescale Semiconductor, Inc...
where:
DECEL_RESERVE
overall deceleration ramp reserve
[steps]
DECEL_AFTERRAMP_RESERVE
number of steps with starting
frequency after deceleration ramp
[steps]
2
reserve for following acceleration
requires1 acceleration step and 1
deceleration step [steps]
DECEL_NUMERICAL_RESERVE
deceleration reserve to cover the
difference between acceleration
and deceleration ramps caused by
numerical rounding [steps]
Service of the Updated Requests is shown in Figure 6-2. It provides the
necessary Position and Speed control functionality when the position
request value is updated (by LIN message).
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Updated Requests
StepRun |
StopTimeout?
No
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positionDif =
positionReq -positionAct
Yes
positionDif != 0
No
Yes
Step Start
Return
Figure 6-2. Motor Position and Speed Control - Service Updated
Requests
Service of the Updated Actual Position is shown in Figure 6-3. It
provides the necessary Position and Speed control functionality when
the actual position value is updated (step done) or when stop timeout is
scheduled.
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LIN Stepper Software Description
LIN Stepper Software Data Flow
Updated Actuals
StepRun flag?
Yes
No
positionDif =
positionReq -positionAct
No
StopTimeout flag?
positionDecelAfterRamp <= 0?
Yes
positionDif != 0
No
Yes
frequencyAct =
Frequency Deceleration
StepRun flag?
Yes
Stop Timeout
Begin
Stop Block
Set
Return
Return
No
StopTimeout flag?
No
1
Yes
Yes
Step Start
Return
Return
positionDif > 0
No
Yes
positive rotation
direction?
No
positionDecelAfterRamp <= 0?
No
frequencyActLowHig=
Frequency
Deceleration
No
Yes
Reverse Timeout
Begin
Yes
decelDistance+
+DECEL_RESERVE
<positionDif
negative rotation
direction?
Yes
Return
No
Yes
frequencyReq >=
frequencyActLowHigh
decelDistance+
+DECEL_RESERVE
< - positionDif
Yes
No
No
Yes
frequencyActLowHig=
Frequency
Acceleration
No
frequencyReq >=
frequencyActLowHigh
Yes
frequencyActLowHigh=
Frequency
Deceleration
frequencyActLowHig=
Frequency
Deceleration
frequencyActLowHig=
Frequency
Acceleration
1
periodStep= 1/
frequencyAct
timeMotStep +=
periodStep
Return
Figure 6-3. Motor Position and Speed Control - Service Updated Actual Position
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NOTE:
To stop or reverse the motor, the motor must slow down to
frequencyStart and provides DECEL_AFTERRAMP_RESERVE steps
with frequencyStart. This is provided by the condition
positiondecelAfterRamp =< 0. When positiondecelAfterRamp is
initialized to DECEL_AFTERRAMP_RESERVE by
FrequencyAcceleration routine (see Figure 6-4).
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The speed acceleration and deceleration subroutines are used for linear
acceleration and deceleration ramping. They are shown in Figure 6-4.
frequencyActLowHigh= Frequency
Acceleration (frequencyActLowHigh,
acceleration, positionDecelDistance,
frequencyReq)
frequencyActLowHigh= Frequency
Deceleration (frequencyActLowHigh,
acceleration, positionDecelDistance,
frequencyStart)
frequencyReq >
frequencyActLowHigh.Byte.Hi
gh
frequencyActLowHigh -=
periodStep*acceleration
Yes
frequencyStart >
frequencyActLowHigh.Byte.Hi
gh
frequencyActLowHigh +=
periodStep*acceleration
Yes
frequencyActLowHigh =
frequencyStart
positionDecelDistance++
positionDecelAfterRamp =
= DECEL_AFTERRAMP_RESERVE
frequencyReq <=
frequencyActLowHigh.Byte.Hi
gh
No
No
No
positionDecelAfterRamp-(limited to 0)
positionDecelDistance-(limited to 0)
Return
Yes
frequencyActLowHigh =
frequencyReq
Return
Figure 6-4. Frequency Acceleration and Deceleration - Flow Chart
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LIN Stepper Software Data Flow
The frequency acceleration subroutine provides the actual frequency
frequencyActLowHigh ramp with the maximum frequency limit at
frequencyReq. If the actual frequency is lower than the required, the
new actual frequency is calculated from the last actual frequency
frequencyActLowHigh, last stepping period periodStep and
acceleration constant ParametersRAM.acceleration. After that the
positionDecelDistance is incremented. (This value is used in the
Position and Speed Control Process to determine the point where the
speed deceleration starts). Then the positionDecelAfterRamp variable
is initialized. (positionDecelAfterRamp is used to guarantee that the
motor stop after ramp down to frequencyActLowHigh as shown in
Figure 6-3). Finally frequencyActLowHigh is limited to
frequencyReq.
The frequency deceleration subroutine provides the actual frequency
frequencyActLowHigh deceleration ramp with the minimum frequency
limit at ParametersRAM.frequencyStart. First new decreased actual
frequency is calculated from the last actual frequency
frequencyActLowHigh, last stepping period periodStep and
acceleration constant ParametersRAM.acceleration. If after the
deceleration the actual frequency frequencyActLowHigh is below
minimum starting frequency ParametersRAM.frequencyStart, then it is
limited to ParametersRAM.frequencyStart and variable
positionDecelAfterRamp is decremented as shown in Figure 6-3, the
motor is allowed to stop after the variable is zero). Finally
positionDecelDistance is incremented (the speed deceleration start
point changes with the actual speed).
6.1.3 Motor Stepping Control
The process controls the motor stepping. It prepares the erHBOUT
variable and, using the SPI Driver calls, provides the Power Die H-bridge
setting to energize the stepper motor coils. The process also controls
current limitation via erHBCTL. The motor stepping control is provided
according to the control flags in registers uMotStepControlFlags,
sParameterRAM.uAppConfigByte1, and using the stepIndex as a
pointer to tables fullStepTable or halfStepTable.
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6.1.4 Position Sensing
Position sensing handles the actual position variable positionAct. The
process should guarantee that the actual position is actualized
(increment/decrement) each motor step provided by the Motor Stepping
Control Process.
The process also handles position initialization and correction.
NOTE:
The stepper motor is controlled as an open loop system in the
application described in this document. So the position is updated each
motor step according to the motor stepping direction. If any kind of
position sensing or position initialization (e.g. a Hall sensor with a
defined position) is used, the current software could be adapted simply
by changing of the Position Sensing process.
6.1.5 LIN Driver
LIN drivers provide all the processes for the LIN-bus protocol, which
handles the transmitting/receiving of LIN frames. The application
software communicates with the drivers using LIN API as shown in
Figure 6-1. The LIN messages are described in the Section 5. LIN
Master Software Description.
6.1.6 SPI Driver
The MCU part of the 908E625 device communicates with the Power Die
using the SPI module (See Section 9. References, 9, 10).
6.1.7 Timer Motor Step
The Timer Motor Step sets the timer for the The Motor Stepping Control
and Motor Position and Speed Control processes.
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LIN Stepper Software Data Flow
LIN Messages
LIN
Driver
l_u8_rd_configLINAxis
fun.
calls
Reconfig
LIN
eAppState
l_u8_rd_service
l_u8_rd_nodeIDCurrent
Slave App.
Control
Position
Sensing
l_u8_rd_paramArray
l_u8_rd_dataX
fun.
calls
sParameterROM
Config
Param
sParameterRAM
positionAct
Figure 6-5. LIN Stepper Software - Data Flow 2 - Configuration
6.1.8 Config Param
The process includes the functions necessary for parameter
configuration. The functions are:
•
parameter transfer from FLASH ROM to parameter RAM
•
parameter upload from parameters RAM to LIN l_u8_wr_dataX
signals according to l_u8_rd_paramArray
•
parameters download from l_u8_rd_dataX signals to parameter
RAM according to l_u8_rd_paramArray
•
FLASH programming parameters from RAM to FLASH ROM
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6.1.9 Reconfig LIN
The process includes the functions necessary for LIN signal
reconfiguration.
As shown in Section 5. LIN Master Software Description, each LIN
Stepper Controller node is programmed as an acceptor for one set of the
LIN signals according to the controlled Axis. The LIN-bus signalling
scheme can be reconfigured to a different Axis
The Reconfig LIN process automatically provides reconfiguration with
the following steps:
•
Initializes the LIN reconfiguration RAM buffer
fLINReconfigBufRAM
•
Presets the LIN reconfiguration RAM buffer according to
l_u8_rd_configLINAxis message
•
Finally the LIN reconfiguration RAM buffer fLINReconfigBufRAM
is programmed into the LIN configuration tables in FLASH ROM
6.2 LIN Stepper Software Application State Diagram
Figure 6-6 shows the application states. After an MCU reset, the MCU
Initialization states provide the initialization of all processes.
6.2.1 MCU Init
In this state, the application provides all system module initialization after
reset:
•
sets CONFIG2 register
•
sets clock module to 4.9152 MHz bus frequency
•
copies configuration parameters from FLASH memory
sParameterRAM = sParameterROM
•
initializes uAppFlags1.Byte = 0; uAppErrFlags.Byte = 0
•
initializes SPI
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LIN Stepper Software Application State Diagram
•
initializes LIN drivers
•
initializes stepIndex = STEP_INDEX_INIT_DEFAULT
•
initializes actual position
positionAct = sParameterRAM.positionPark
MCU_Reset
MCU Init
App
Configuration
Done
NO Position Correction
Done
App Init
Position Correction Done
Done
App Wake-up
Done
l_bool_rd_AppInitFlag
App Prepare
Config
PositResetDone
App Run
LIN Wake-up Request
App Position
Reset Set Stall
positionAct = positionResetRqValue
l_u8_rd_nodeIDCurent()==sParameterRAM.nodeID &
(SysMasterRequest_Download OR
SysMasterRequest_Store OR
SysMasterRequest_LINReconfig)
l_bool_rd_PosResetFlag
App Position
Reset
App Sleep
SysMasterRequest_Sleep
Done
l_bool_rd_ClrFlag &
AppState != App Init
App Clear
Errors
return
App Prepare
Sleep
Figure 6-6. LIN Stepper Software Application State Diagram
6.2.2 iApp.Init
The Application Initialization state is a defined state which the
application enters after MCU Init, or can be forced by the
l_bool_rd_AppInitFlag message. The application performs the following:
•
initializes timers
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NOTE:
•
clears system errors
•
provides position and speed control application initialization
The application initialization state App. Init. does not set actual motor
position positionAct.
6.2.3 App.Run
In the Application Run state, the application controls the actual position
positionAct to the required position positionReq with current limited to
the Run or Block current. The positionReq is set according to the to
l_u16_rd_positionReq signal. The motor is in the block state if the
positionAct = positionReq after stop timeout. The LIN signals are also
tested in this state. If there are any of the requests shown in Figure 6-6,
the state is left.
6.2.4 App.Position Reset
Functionality of the Position Reset state is very similar to the App Run
state, but in this state the application controls the motor to the motor
down to positionReq = sParameterRAM.positionResetRqValue. So
the positionReq is not set according to the l_u16_rd_positionReq.
This state is used with the App Position Reset Set Stall for position
initialization.
6.2.5 App.Position Reset Set Stall
Provides setting positionAct = sParameterRAM.positionStall and so
provides the actual position reset.
6.2.6 App. Prepare Sleep
Application prepares for sleep. In case the motor is spinning it is
decelerated and stopped. This is provided in order not to lose position by
going to sleep.
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6.2.7 App. Prepare Sleep
Application prepares all MCU modules for minimal consumption and
provides Stop instruction. It also sets the Power Die to be able to
generate IRQ pin signal for LIN-bus wake-up.
6.2.8 App. Wake-Up
After wake-up message from the bus, the MCU is wakened by the IRQ
pin signal from Power Die.
6.2.9 App. Configuration
Application Configuration is described in Section 6.1.8. Config Param,
Section 6.1.9. Reconfig LIN or Appendix C.3. LIN Leveller
Configuration Frames.
6.2.10 App. Clear Errors
Application clears Power Die errors and uAppErrFlags.Byte = 0
6.3 LIN Stepper Software Implementation
6.3.1 Scaling of Quantities
The LIN Leveller application uses signed 16-bit type SWord16,
unsigned 16-bit type UWord16, signed 8-bit type SByte, and unsigned
8-bit type UByte variables.
Any defined Real Variable constant must be recalculated to the system
representation (UWord16 Value, SWord16 Value, UWord8 Value,
SWord8 Value)
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The following equation shows the relationship between system (raw
value range) and real (physical or normalized range) representation
Real Value
UWord16 Value = ( MAX_U16 + 1 ) -------------------------------------------------------------Real Quantity Range Max
(EQ 1.)
Real Value
SWord16 Value = ( MAX_S16 + 1 ) ⋅ -------------------------------------------------------------Real Quantity Range Max
(EQ 2.)
Real Value
UByte Value = ( MAX_U8 + 1 ) ⋅ -------------------------------------------------------------Real Quantity Range Max
(EQ 3.)
Real Value
SByte Value = ( MAX_S8 + 1 ) ⋅ -------------------------------------------------------------Real Quantity Range Max
(EQ 4.)
where:
UWord16 Value is the unsigned 16-bit system representation of the real
value,
SWord16 Value is the signed 16-bit system representation of the real
value,
UWord8 Value is the unsigned 8-bit system representation of the real
value,
SWord8 Value is the signed 8-bit system representation of the real
value,
Real Value is the real value of the quantity [V, A, RPM, etc.],
Real Quantity Range Max is the maximum of the quantity range,
defined in the application [V, A, RPM, etc.],
MAX_U16 = 65535 is the maximum of the unsigned 16-bit variable,
MAX_S16 = 32768 is the maximum of the signed 16-bit variable,
MAX_U8 = 255 is the maximum of the unsigned 8-bit variable,
MAX_S8 = 127 is the maximum of the signed 8-bit variable.
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From the above equations for the Real Value:
Value*Real Quantity Range MaxReal Value = UWord16
--------------------------------------------------------------------------------------------------------( MAX_U16 + 1 )
(EQ 5.)
Value*Real Quantity Range MaxReal Value = SWord16
-------------------------------------------------------------------------------------------------------( MAX_S16 + 1 )
(EQ 6.)
Value*Real Quantity Range MaxReal Value = UByte
-------------------------------------------------------------------------------------------------( MAX_U8 + 1 )
(EQ 7.)
Value*Real Quantity Range MaxReal Value = SByte
------------------------------------------------------------------------------------------------( MAXSU8 + 1 )
(EQ 8.)
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According to the variable type, the equations EQ1 to EQ8 also can be
converted to the EQ9 and EQ11
Real Value X System Variable X = ----------------------------------------------------Resolution Quantity X
(EQ 9.)
where:
Real Quantity X Range Max
Resolution Quantity X = -------------------------------------------------------------------MAX Type Variable X
(EQ 10.)
where:
System Variable X - is the system variable
Real Value X - is the physical value of the quantity represented by
Variable X
Resolution Quantity X - resolution of the system variable X in real. (It
represents the physical value represented by LSB bit of the Variable X)
Max Type Variable X - system Variable X maximum according to the
Variable Type:
Type UWord16 MAX_U16 = 65535
Type SWord16 MAX_S16 = 32768
Type UByte MAX_U8 = 255
Type SByte MAX_S8 = 127
And hence the Real Value:
Real Value X = Resolution Quantity X*System Variable X
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6.3.2 Scaling of Time
Scaling of time variables is according to EQ12,13
Timer Prescaller Division
Resolution Period = -------------------------------------------------------------Bus Frequency
(EQ 12.)
ResolutionPeriod defines the time of
(EQ 13.)
Real Step Period = periodStep*Resolution Period
6.3.3 Acceleration Scaling and Arithmetic Operations
Some of the arithmetic operations used in the LIN Stepper software
impact the calling.
A good example is umul_16x8_macro
Variable1*UByte Variable2UWord16 Variable3 = UWord16
-------------------------------------------------------------------------------------------256
(EQ 14.)
which is used for acceleration ramp calculation:
(EQ 15.)
Frequency Difference = SteppingPeriod*Acceleration
And EQ15 can be rewritten to
(EQ 16.)
Resolution Frequency*(UWord16) frequencyDif = Resolution Period*(UWord16) periodStep*Resolution Acceleration* a cceleration
if we use the umul_16x8_macro
(UWord16)Frequency Dif = (UWord16)periodStep*(UByte)Acceleration
----------------------------------------------------------------------------------------------------------256
(EQ 17.)
Then according to EQ16, EQ17 the Resolution Acceleration is:
(EQ 18.)
RESOLUTION_FREQUENCY_LOW_HIGH RESOLUTION_ACCEL_DECEL_S_S2 = --------------------------------------------------------------------------------------------------------------------------------256.0*(RESOLUTION_PERIOD_NS/1000000000.0)
NOTE:
The actual frequency variable frequencyActLowHigh is represented as
an union. Then for the acceleration calculations it can be accessed as
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UWord16 variable frequencyActLowHigh.Word. This will guarantee
the low resolution (necessary to create low steepness frequency ramps).
For the frequency-to-period calculation and comparison with required
frequency frequencyReq, it is sufficient to use 8-bit information. This
allows to use fast calculations like frequency to speed conversion using
udiv16_8to16.
Then the high byte frequencyActLowHigh.Byte.High is accessed.
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6.3.4 Actual Frequency to Period Conversion
The conversion from frequency to period requires division.
1
Period = --------------------------Frequency
(EQ 19.)
For software execution optimized calculation we wrote a special
arithmetic function:
UWord16 udiv16_8to16(UWord16 x, UByte y)
with UWord16 output and UWord16 x, UByte y inputs. It is written in
assembler and provides the following calculation:
Variable1UWord16 Variable3 = UWord16
-----------------------------------------------UByte Variable3
(EQ 20.)
The conversion must take into account the variables scaling:
1
Resolution Period*(UWord16) periodStep = --------------------------------------------------------------------------------------------------------Resolution Frequency*(UByte8) Frequency
(EQ 21.)
UWord16 ) ( Resolution Frequency/ResolutionPeriod )(UWord16) periodStep = (----------------------------------------------------------------------------------------------------------------------------------(UByte8) Frequency
(EQ 22.)
So the final calculation using the udiv16_8to16 function is:
( UWord16 ) ( CONVERSION_CONST_PERIOD_FERQ -)
(UWord16) periodStep = ------------------------------------------------------------------------------------------------------------------------------------------(UByte8) frequencyActLowHigh.Byte.High
(EQ 23.)
where:
Resolution Period [s] is RESOLUTION_PERIOD_NS*1000000000.0
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Resolution Frequency [Hz] is RESOLUTION_FREQUENCY_HZ
CONVERSION_CONST_PERIOD_FREQ =
(1000000000.0/RESOLUTION_FREQUENCY_HZ/RESOLUTION_PE
RIOD_NS)
6.3.5 LIN Stepper Software Memory Utilization
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Table 6-1 shows how much memory is required to run the LIN Stepper
Controller with code compiled with Metrowerks CodeWarrior v 2.1.
Table 6-1. Stepper Controller Software Memory Utilization
Memory
Used by
Software
FLASH ROM
4039 Bytes
RAM
278 Bytes
Important Sections
Size
Parameter ROM
16B
LIN Reconfig ROM
128B
Stack
64B
LIN Reconfig RAM
96B
Parameter RAM
16B
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Designer Reference Manual — DRM047
Section 7. User Interface Description
7.1 Introduction
This section describes the Control pages used for LIN-bus control (see
Section 2.3.1. PC Master Mode) in terms of:
•
PC master software general overview
•
detailed description of each control page
7.2 PC Master Software General Overview
The principle is briefly shown in Section 2.4. Personal Computer.
In Figure 7-1 it is possible to see whole PC master software page, which
is comprised of four main boxes.
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.
View Area
Project Tree
View Tabs
Variable Watch
Figure 7-1. PC Master Software Main Page
7.2.1 Project Tree
Clicking the mouse on the legend selects what is displayed in the
remaining boxes.
7.2.2 Variable Watch
Here some selected variables from the Master Board are located, and
the Value (Number or Expression) and Period of reloading is assigned
to them.
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LIN-bus Control
7.2.3 View Tabs
The View tabs select what is displayed in the View area.
7.2.4 View Area
Shows one of following items:
•
HTML Control page (LIN-bus Control page or Programming and
Configuration page)
•
Oscilloscope page
•
Recorder page
Because some variables on the HTML control page have write status, it
is necessary to reload them to Variable Watch by pressing the F5 key on
the keyboard (recommended after a change). Reloading of the read
variables is done automatically.
More information about the PC master software can be gained from the
PC Master Software User Manual (Section 9. References, 1).
7.3 LIN-bus Control
The pages dedicated to LIN slave control are (see Project Tree):
•
Slave control - LIN-bus control page
•
Oscilloscope - real time variables watching
•
Recorder - recorded variables watching
7.4 Slave Control
Via this HTML page (Figure 7-2), it is possible to fully control up to two
LIN Stepper Controllers. The page comprises three main areas: Control
Loop1, Control Loop2, and an area containing Status notes and State
buttons on a yellow background.
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7.4.1 Control Loop1
The steps for setting this page are as follows:
1. Chose LIN frames (see Section 5. LIN Master Software
Description) for communication via checking of Send or Receive
boxes.
2. Select Axis (LIN Stepper Controller)
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3. The periodeSendMin box displays the automatically calculated
minimum time necessary for transmitting and receiving selected
LIN frames. Set time distances in periodeSend box between two
communication events greater than or equal to that minimum time
(displayed in milliseconds; maximum value = 255).
4. All LIN frames data are displayed in the Frame Data box. In
FramePosCmd it is necessary to choose the source for
positionReq 16-bit data. Either it will be driven manually or will be
automatically generated from predefined curves in LIN Master
memory. In the first case, choose Manual in the Mode combo box,
and positionReq is driven by positionReqManual. The actual value
can be seen either in the box below the slide bar or in the
positionReq box. In the second case, choose Automatic in the
Mode combo box, select curve and set “if generate data still” or
“read out curve data only once and then stop” (Send combo box).
The Reset button causes shifting in curve data to beginning.
There are four predefined curves and one special choice called
SQUARE.
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Slave Control
Figure 7-2. LIN-bus Control Page
7.4.2 Control Loop2
The setting is the same as for Control Loop1 except:
•
If there are communication requests of both loops at the same
time, Loop1 always has the main priority. This means that a
request from Loop2 is shifted until the request of Loop1 is
satisfied. That is why there is a delay between two following
satisfied communication requests from Loop2, measured and
displayed via periodeSend. The periodeSendReq box is used to
set the desired time periods between two communication events
of Loop2.
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FramePosCmd 16-bit data source (positionReq) is set only manually, by
means of the positionReqManual box.
7.4.3 Status Notes and State Buttons
On the yellow background can be seen two Status notes and three State
buttons:
•
Status - displays current status of LIN communication and can be:
– Idle - LIN is activated, but communication is not started
– Run - communication is running
– Sleep - LIN-bus is in Sleep state
•
Error - global error label, which accumulates all error warnings.
•
Sleep/Wake up - sends sleep or wake-up frame.
•
Run/Stop - runs or stops communication via LIN-bus. Park
Position - after button click is positionReq variable of both loops
forced to zero and the mode of Loop1 is set to Manual.
7.4.4 Error Handling
The Error notes can be:
•
None - communication without errors
•
No Response - Slave is not responding (wrong selected Axis or
Slave is missing). In case, when is Slave responding, this note
reflects checksum error.
•
Transmitter Issue - more than one LIN device is transmitting or LIN
SIO wire is shorted to the supply source wires.
7.4.5 Low Time Cases
If the time dedicated to Loop1 communication requests is always shorter
than the time necessary for Loop2 communication, the priority rule of
Loop1 is dismissed and loop requests are satisfied in order following
each other. This state is signalled by the note Frames are not
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Recorder
synchronized with periodeSend, that is situated beside Loop1
periodeSend variable.
7.5 Recorder
This page is shown in Figure 7-3. It is possible to reach it in two ways.
Either click on the Display Graphical Recorder button (Slave Control
page) or click on the legend Recorder in the Project tree.
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The Recorder is working as a standalone oscilloscope running directly
on the Master Board. Each cycle is started by the Run button on the
Recorder page. Then data in predefined time distances are sampled and
stored to Master Board RAM. After ten seconds from start, data are
reloaded to the PC master tool and displayed via the graphical interface.
The dvantage of this way of watching variables is the recording of fast
changing events.
In this case, three variables of Loop1 are watched and displayed
(because of finite size of RAM):
1. positonReq - desired position of HID lamp (LIN Stepper Controller)
before FramePosCmd transmitting
2. positionReqSent - desired position of HID lamp (LIN Stepper
Controller) immediately after FramePosCmd transmitting
3. positionAct - actual position of HID lamp (LIN Stepper Controller)
after receiving FramePosStatus
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Figure 7-3. Recorder Page
By comparing 1) and 2) it is possible to watch the delay caused by
transmitting FramePosCmd on LIN-bus; by comparing 1) and 3) it is
possible to watch the delay caused by the mechanical parts of the LIN
Stepper Controller that are driving the lamp position (LIN communication
delays can be in the most of this cases neglected).
7.6 Oscilloscope
Figure 7-4 shows the Oscilloscope page.
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Oscilloscope
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The Oscilloscope works as a real time recorder and displays the current
state of the variables. In comparison to the Recorder, the data for
Oscilloscope are loaded to PC master software immediately and
individually, whereas, in the case of the Recorder, this is done by group.
This causes the Oscilloscope to be slower than the Recorder, so when
the event is faster than the Oscilloscope data flow, data triggering that
event are missing. The advantage of this tool is that it does not use the
Master Board RAM as Recorder, so triggered events can be infinite.
Figure 7-4. Oscilloscope Page
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The same variables as in Recorder are displayed on the Oscilloscope
page, but for both loops.
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This section is finished by the comparison tables of variables between
LIN-bus Control page and Variable Watch:
•
Loop1 (Table 7-1)
•
Loop2 (Table 7-2)
•
Status notes and State buttons (Table 7-3)
Table 7-1. LIN-bus Control Page and Variable Watch Variables Comparison - Loop1
LIN-bus Control page variable
name
Name of representative from
Watch variable
Note
Send
enableTxPosition_Loop1
Enable transmit frame PosCmd
enableRxPosStatus_Loop1
Enable receive frame PosStatus
enableRxStatus_Loop1
Enable receive frame AppStatus
TxPositionError_Loop1
Error during frame PosCmd
transmitting
RxPosStatusError_Loop1
Error during frame PosStatus
receiving
RxStatusError_Loop1
Error during frame AppStatus
receiving
axisTxPosition_Loop1
Target device of PosCmd frame
axisRxPosStatus_Loop1
Target device of PosStatus frame
axisRxStatus_Loop1
Target device of AppStatus frame
periodeSendMin
periodeSendMin_Loop1
Calculated period,
range <0 - 255>,
value in milliseconds
periodeSend
periodeSend_Loop1
Real period,
range <0 - 255>,
value in milliseconds
Mode
modeAutMan_Loop1
Select Manual or Automatic mode
Curve
autCurveSelect_Loop1
Select one predefined curve
Send
autSendOnesStill_Loop1
Send curve Ones or Still
Receive
Error
Select Axis
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Oscilloscope
Table 7-1. LIN-bus Control Page and Variable Watch Variables Comparison - Loop1
LIN-bus Control page variable
name
Name of representative from
Watch variable
Note
Reset
autReset_Loop1
Shift pointer in selected
Curve to begin
positionReq
positionReq_Loop1
Included in frame PosCmd,
data field, length 16 bits
frequencyReq
frequencyReq_Loop1
Included in frame PosCmd,
data field, length 8 bits,
page range <0Hz - 2500 Hz>
ClrFlag
ClrFlag_Loop1
AppInitFlag
AppInitFlag_Loop1
PosResetFlag
PosResetFlag_Loop1
LightOnFlag
LightOnFlag_Loop1
positionAct
positionAct_Loop1
Included in frame PosStatus,
data field, length 16 bits
frequencyAct
frequencyAct_Loop1
Included in frame PosStatus,
data field, length 8 bits
AppFlags
uAppFlags_Loop1
Included in frame PosStatus,
data field, length 8 bits
analogValue
analogValue_Loop1
Included in frame AppStatus,
data field, length 8 bits
AppErrFlags
uAppErrFlags_Loop1
Included in frame AppStatus,
data field, length 8 bits
positionReqManual
positionReqManual_Loop1
If is Mode manual, sets value of
positionReq variable
Included in frame PosCmd,
data field, length 1 bit each
Table 7-2. LIN-bus Control Page and Variable Watch Variables Comparison - Loop2
LIN-bus Control page variable
name
Name of representative from
Watch variable
Note
Send
enableTxPosition_Loop2
Enable transmit frame PosCmd
enableRxPosStatus_Loop2
Enable receive frame PosStatus
enableRxStatus_Loop2
Enable receive frame AppStatus
Receive
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Table 7-2. LIN-bus Control Page and Variable Watch Variables Comparison - Loop2
LIN-bus Control page variable
name
Name of representative from
Watch variable
Note
TxPositionError_Loop2
Error during frame PosCmd
transmitting
RxPosStatusError_Loop2
Error during frame PosStatus
receiving
RxStatusError_Loop2
Error during frame AppStatus
receiving
axisTxPosition_Loop2
Target device of PosCmd frame
axisRxPosStatus_Loop2
Target device of PosStatus frame
axisRxStatus_Loop2
Target device of AppStatus frame
periodeSendMin
periodeSendMin_Loop2
Calculated period,
range <0 - 255>,
value in milliseconds
periodeSendReq
periodeSendReq_Loop2
Desired period,
range <0 - 255>,
value in milliseconds
periodeSend
periodeSend_Loop2
Real period,
range <0 - 255>,
value in milliseconds
positionReq
positionReq_Loop2
Included in frame PosCmd, data
field, length 16 bits
frequencyReq
frequencyReq_Loop2
Included in frame PosCmd,
data field, length 8 bits,
page range <0Hz - 2500 Hz>
ClrFlag
ClrFlag_Loop2
AppInitFlag
AppInitFlag_Loop2
PosResetFlag
PosResetFlag_Loop2
LightOnFlag
LightOnFlag_Loop2
positionAct
positionAct_Loop2
Included in frame PosStatus,
data field, length 16 bits
frequencyAct
frequencyAct_Loop2
Included in frame PosStatus,
data field, length 8 bits
AppFlags
uAppFlags_Loop2
Included in frame PosStatus,
data field, length 8 bits
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Error
Select Axis
Included in frame PosCmd,
data field, length 1 bit each
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Programming and Configuration
Table 7-2. LIN-bus Control Page and Variable Watch Variables Comparison - Loop2
LIN-bus Control page variable
name
Name of representative from
Watch variable
Note
analogValue
analogValue_Loop2
Included in frame AppStatus,
data field, length 8 bits
AppErrFlags
uAppErrFlags_Loop2
Included in frame AppStatus,
data field, length 8 bits
positionReqManual
positionReqManual_Loop2
Value for positionReq variable
Table 7-3. LIN-bus Control Page and Variable Watch Variables Comparison - Status Notes
and State Buttons
LIN-bus Control page variable
name
Name of representative from
Watch variable
Note
Status
LIN_Status
Display LIN status:
IDLE/RUN/SLEEP
Error
Created as OR function of all error messages in HTML page code
Sleep/Wake-up
LIN_SleepWakeReq
Change current LIN Status
Sleep/Wake-up
Run/Stop
LIN_RunStopReq
Change current LIN Status
Run/Stop
Park Position
Park
Sets lamp system to initial position
Note: Frames are (not)
synchronized with periodeSend
SynchMode_Loop1
Display relationship between real
and desired communication timing
7.7 Programming and Configuration
By the means of this page (see Figure 7-5) it is possible to program and
configure the LIN Stepper Controller via LIN-bus. The services are
following:
•
LIN Reconfiguration - assign Axis number
•
Upload Parameters - read parameters
•
Download Parameters - write parameters
•
Store Parameters - store parameters to program MCU memory
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•
MCU Reset - reset MCU
•
Send Position Correction - set new position
All variables included in the parameters array are described in
Section 5. LIN Master Software Description.
Figure 7-5. Programming and Configuration Page
7.7.1 LIN Reconfiguration
If is necessary to change or program new Axis number of LIN Stepper
Controller, select the desired Axis number in configLINAxis combo box
and click on LIN Reconfig button. The target device will now have the
chosen Axis number.
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Freescale Semiconductor, Inc.
User Interface Description
Programming and Configuration
7.7.2 Upload Parameters
Steps are as follows:
1. Select nodeID (node identity) - for an uninitialized device (by the
nodeID item in parameters array) the nodeID is 255
2. In the paramArray combo box, set which parameters are to be
uploaded (a dedicated box will appear just like the box selected by
paramArray PARAMS_CONFIG vote on Figure 7-5 - in the middle
of left side).
3. Click on the UPLOAD button
4. Parameters are now reloaded from the selected Node, and in
service box is displayed the name of action that was provided by
Node (in this case it must be UPLOAD, otherwise the Node
reaction was wrong).
7.7.3 Download Parameters
For this choice:
1. Select nodeID (node identification) - for an uninitialized device (by
the nodeID item in parameters array) the nodeIDis 255
2. In the paramArray combo box, set which parameters are to be
downloaded (a dedicated box will appear just like box selected by
paramArray PARAMS_CONFIG vote on Figure 7-5 - in the middle
of left side). Then change those parameters.
3. After clicking on the DOWNLOAD button, the parameters are
written and immediately read back for verifying. If the parameter
values are the same as were determined, in the RecvData box will
be “Ok”. In the opposite case, “Different” will be displayed. In the
service box must be “DOWNLOAD”, otherwise the Node reaction
was wrong.
7.7.4 Store Parameters
Choose Node (nodeID) and click on the STORE button. All parameters
are stored in the Node program memory.
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Freescale Semiconductor, Inc.
User Interface Description
For all Nodes, nodeID is zero; for uninitialized devices, it is 255.
7.7.5 MCU Reset
Select Node via nodeID combo box and click on MCU Reset button.
For all Nodes, nodeID is zero; for uninitialized devices, it is 255.
7.7.6 Send Position Correction
Set nodeID and variable positionCorrection. Then click on the Send
Position Correction button.
For uninitialized device, nodeID is 255.
7.7.7 Error Handling
Error (corresponding variable in Variable Watch - configProgramError)
box notes can be:
•
None - communication without errors
•
No Response - Slave is not responding (wrong selected Axis or
Slave is missing). In case, when Slave is responding, this note
reflects checksum error.
•
Transmitter Issue - more than one LIN device is transmitting or LIN
SIO wire is shorted to the supply source wires.
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Section 8. Conclusion
Freescale Semiconductor, Inc...
One of the aims of this reference design was to show that the LIN-bus is
suitable for HID headlamp levelling control and its communication speed
is fully sufficient for this application.
The dynamic behavior of the HID lamp levelling system has some
limitations due to mechanical parts. The bus communication system
(LIN-bus) should not be the limitation for the system dynamic.
This is demonstrated below using the PC master recorder (see
Section 7.5. Recorder). The figures below are measured using the PC
master software. Control Loop1 controls automatically the levelling of a
standard HID lamp according to signals pre-programmed in LIN Master.
The horizontal levelling is set for Axis1.
All Axis1 frames are being sent. Control Loop2 is also enabled and
controls Axis2. All Axis2 frames are being sent (see Section 7.4. Slave
Control). All frames are sent with constant period periodeSend = 30ms.
According with the stepper motor and mechanical parts of the HID lamp,
the following setting is provided:
•
start speed = 200rpm
•
max. speed frequencyReq = 700rpm
•
and position range positionReq +/-128steps
Figure 8-1 shows that a slow sinusoidal signal of required position
positionReq can be followed by the actualPosition signal. If the signal
frequency increases, the HID lamp mechanics are not able to copy the
required position. The LIN-bus is able to provide enough samples.
The system mechanics are the limiting factor.
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Freescale Semiconductor, Inc...
Conclusion
Figure 8-1. Slow-Fast Signal
Figure 8-2. Low-High (Amplitude) Signal
The Figure 8-2 shows that the required position positionReq with a
sinusoidal signal of small amplitude can be followed by actualPosition
Designer Reference Manual
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Conclusion
Programming and Configuration
signal. If the signal amplitude increases, the stepper motor with its
maximum speed is not able to follow the required position.
The LIN-bus is able to provide enough samples.
Freescale Semiconductor, Inc...
The system mechanics are the limiting factor.
Figure 8-3. Road1 Signal
Figure 8-3 shows a non-sinusoidal signal of required position
positionReq be followed by the actualPosition signal. It can simulate
a HID levelling system on a road.
Therefore, we can say that the LIN Leveller described in this reference
design could be an advanced solution for HID headlamp levelling control
with a very competitive system cost thanks to:
•
LIN-bus communication protocol
which is a cost-effective bus system based on standard SCI (UART)
communication and:
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Conclusion
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Freescale Semiconductor, Inc.
Conclusion
•
908E625 device
Freescale Semiconductor, Inc...
as an integrated solution, which makes the slave nodes easy with a low
number of components.
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Section 9. References
Freescale Semiconductor, Inc...
1. PC Master Software User Manual
2. LIN Specification Package, Revision 1.2
3. System Integration in Automotive Lighting - Improvements in
Visibility at Night, Rainer Neumann, Visteon Deutschland GmbH,
SAE 2002-01-1989
4. Bending Light, Kevin Jost, SAE 1-110-12-26
5. Adaptive front lightning, Stuart Birch, SAE 1-109-12-39
6. Bifunction HID Headlamp Systems - Reflection and Projection
Type, Doris Boebel, Heike Eichler and Verena Hebler, Automotive
Lighting GmbH, Automotive Lighting Research (SP–1531)
7. HID System: Function Integration, Christophe Cros, Valeo
Lighting System
8. Innovations in Lighting with Adaptive Headlamp Technology,
Michael Hamm and Ernst-Olaf Rosenhahn, Automotive Lighting
Reutlingen, SAE 2001-01-3392
9. LIN General Purpose IC 908E625ACDWB/D
10. MC68HC908EY16 Data Sheet MC68HC908EY16/D
11. LIN Physical Interface MC33399
12. 16-bit MCU MC9S12DP256B
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References
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References
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Appendix A. Hardware Schematics
A.1 LIN Master Board Schematic
4
3
2
D1
+5V
R1
10k
C12
100nF
4
3
C11
15pF
VCC
OUT
5
GND
NC
1
PE7/XCLKSn/NOACC
PE6/MODB/IPIPE1
PE5/MODA/IPIPE0
PE4/ECLK
PE3/LSTRBN/TAGLOn
PE2/RWn
PE1/IRQn
PE0/XIRQn
EXTAL
PJ6/KWJ6/SDA/RXCAN4
PJ7/KWJ7/SCL/TXCAN4
KWH0/PH0
KWH1/PH1
KWH2/PH2
KWH3/PH3
KWH4/PH4
KWH5/PH5
KWH6/PH6
KWH7/PH7
52
51
50
49
35
34
33
32
PK0/PIX0
PK1/PIX1
PK2/PIX2
PK3/PIX3
PK4/PIX4
PK5/PIX5
8
7
6
5
20
19
R14
1k
+
C15
10uF/6,3V
C16
100nF
XTAL
83
VDDA
84
85
VRH
VRL
97
42
VREGEN
RESETn
82
80
78
76
74
72
70
68
PAD15/AN15
PAD14/AN14
PAD13/AN13
PAD12/AN12
PAD11/AN11
PAD10/AN10
PAD09/AN09
PAD08/AN08
B
R20
10k
SW1
R21
10k
PUSHBUTTON-2/SM
2
4
6
1
3
5
48
TEST
23
MODC/TAGHIn/BKGD
43
VDDPLL
XFC
J6
HEADER3X2
44
C26
100nF
A
C27
10nF
105
104
103
102
101
100
88
87
99
98
QG1
19,6608MHz
47
PM0/RXB/RXCAN0
PM1/TXB/TXCAN0
PM2/RXCAN1
PM3/TXCAN1
PM4/RXCAN2
PM5/TXCAN2
PM6/RXCAN3
PM7/TXCAN3
PK7/ECSn
108
KWJ0/PJ0
KWJ1/PJ1
22
21
C4
33uF/25V
13
65
107
41
VSS1
VSS2
VSSX
VSSR
VSSA
VSSPLL
14
66
106
40
86
45
2
+
J1
Power Jack
12V/5Amax
4
3
C5
100uF/25V
5
U3 MC78L09
SELECT MODE
2
4
6
8
1
3
5
7
1
+9V
PASS
DEBUG
MASTER
PC MASTER
OUT
C6
100nF
IN
LIN_SUP
3
Q1
BSS138
C7
100nF
C8
100nF
+5V
J2
HEADER4X2
R10
10k
R12
10k
+9V
C9
10uF/10V
D5
2
3
EN
Wake
8
INH
Q2
BSS84P
Q3
BSS138
4
1
TxD
RxD
+5V
R15
220
\EN_CLOCK
RSTB
\IRQIN
LIN_SUP
MBRS140T3
R16
10k
C13
100nF
R11
1k
LIN
DATA
C
\IRQOUT
R18
10
J3
LIN_HDR4
Q4
BSS138
C14
100nF
MON3
MON2
MON1
DATA
RSTB
\IRQIN
\IRQOUT
VDD
GND
CLOCK
+5V
R17
10k
RTS
C17
100nF
Q6
BSS138
DTR
2
1
3
11
12
10
9
V+
C1+
C1T1in
R1out
T2in
R2out
V-
C19
100nF
C18
100nF
C2+
C2R1in
T1out
R2in
T2out
1
2
U4
MC33399/D
+5V
Q5
BSS138
3
4
SIO
6
VDD
4
5
R19
10k
J4
MICROMATCH10/FEMALE
D6
BAV99
B
DTR
RTS
13
14
8
7
CTS
DSR
U6
MAX202ECSE
10
9
8
7
6
5
4
3
2
1
5
9
4
8
3
7
2
6
1
TX
RX
JP7
J5
CANNON9/FEMALE
JP8
+
C23
100nF
+
C24
C20
C25
100nF 10uF/6,3V 100nF
C21
10uF/6,3V
C22
100nF
MCSL Roznov
1. maje 1009
756 61 Roznov p.R., Czech Republic, Europe
+5V
Title
C28
1nF
00177_01
B
D:\R30322_MC159VIEW\MC\MC159\HW\LIN_MASTER\00177_01\00177_01.DSN
Design File Name:
of
Modify Date: Tuesday, August 26, 2003
Sheet
1
1
Copyright Motorola 2001
POPI Status:
General Business
3
2
A
RS232_LIN Interface
Petr Cholasta
Author:
Size
Schematic Name:
4
D
2
1
K1
PE014012
R9
10k
R22
5k6
5
+
D4
MBRS140T3
R8
10k
RTS
DTR
-V1
+V
-V2
R4 1R
U1
C3
MC33063A/D
220pF
C2
100uF/6,3V
3
D3
D2
MBRS140T3 MBRS140T3
1R
1
6
VDD1
VDD2
VDDX
VDDR
U2
MC9S12DP256
TCAP
R3
7
36
37
38
39
53
54
55
56
3
4
1
8
7
6
GND
SWC
DC
PK
VCC
VSUP
96
95
94
93
90
89
92
91
PB7/AD7
PB6/AD6
PB5/AD5
PB4/AD4
PB3/AD3
PB2/AD2
PB1/AD1
PB0/AD0
46
R13
1k2
PS7/SS0
PS6/SCK0
PS5/MOSI0
PS4//SDI/MISO0
PS1/TXD0
PS0/RXD0
PS3/TXD1
PS2/RXD1
31
30
29
28
27
26
25
24
COMP
GND
C10
100nF
8
GND
81
79
77
75
73
71
69
67
R7
10k
SWE
5
5
VCC
IN
5
PAD07/AN07
PAD06/AN06
PAD05/AN05
PAD04/AN04
PAD03/AN03
PAD02/AN02
PAD01/AN01
PAD00/AN00
C1
100uF/6,3V
R6
10k
2
16
\EN_CLOCK
CLOCK
1
OUT
C
U5
74HCT1G125GW
OE
4
+5V
IOC7/PT7
IOC6/PT6
IOC5/PT5
IOC4/PT4
IOC3/PT3
IOC2/PT2
IOC1/PT1
IOC0/PT0
R2
3k6 R5
1% 1k2
1%
+
VDD
18
17
16
15
12
11
10
9
ON - JUMPER PINS ARE SHORT - CIRCUIT
OFF - JUMPER PINS AREN'T SHORT- CIRCUIT
+
GND
OFF
ON
DATA
MON1
MON2
MON3
GND
JPx
High
Low
57
58
59
60
61
62
63
64
2
MONx
MON1 JP1
MON2 JP2
MON3 JP3
JP4
JP5
JP6
SCK2/PW7/KWP7/PP7
PA0/AD8
SS2/PW6/KWP6/PP6
PA1/AD9
MOSI2/PW5/KWP5/PP5
PA2/AD10
MISO2/PW4/KWP4/PP4
PA3/AD11
SS1/PW3/KWP3/PP3
PA4/AD12/TMOD1
SCK1/PW2/KWP2/PP2
PA5/AD13
MOSI1/PW1/KWP1/PP1 PA6/AD14/TMOD2
MISO1/PW0/KWP0/PP0
PA7/AD15
L2
100uH
L1
10uH
+
D
109
110
111
112
1
2
3
4
1
MBRS140T3
15
5
2
Freescale Semiconductor, Inc...
Freescale Semiconductor, Inc.
Rev
0.1
1
Figure A-1. LIN Master Board Schematic
DRM047 — Rev 0
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Hardware Schematics
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Hardware Schematics
A.2 LIN Stepper Board Schematic
5
4
3
2
1
VSUP
J3
1
+
C1
100p
1
GND
J5
HDR 1
PTB4/AD4
PTB3/AD3
PTA1/KBD1
PTA0/KBD0
RST
IRQ_RQ
IRQ_IN
VDD
VSS
PTC4/OSC
10
9
8
7
6
5
4
3
2
1
CON/10MICROMATCH
BEMF
FGEN
J6
HDR 1
23
HB2
26
54
53
52
50
49
14
PTA0/KBD0
PTA1/KBD1
PTA2/KBD2
PTA3/KBD3
PTA4/KBD4
PTA6/SSB
HB3
29
PTC2/MCLK
PTC3/OSC2
3
PTC4/OSC1
10
17
51
VDD
VDD_A
VDD_A
C4
100n VSS_A
VSS
JP1
6
HB4
32
HDR 6X1
HS
28
PA1
39
SensorPA1
H1
37
SensorH1
H2
36
SensorH2
H3
35
SensorH3
HVDD
34
VDD
38
VSS
40
RSTB_MCU
RSTB_SMOS
VREFH
VDDA
EVDD
43
44
45
VREFL
VSSA
EVSS
1
3
5
7
2
4
6
8
R2
470
R1
470
VDD_A
VDD
SensorA2
SensorA1
GC2 VDD_A
CON
VDD
+ C5
VSS
2u2/10
IRQB_SMOS
18
IRQ_RQ
SSB
19
SSB
FGEN
15
FGEN
BEMF
16
BEMF
NC
NC
NC
33
22
21
FLSVPP
VSS_A
HDR 4X2 RA
IRQB_MCU/FLSEPGMN
48
47
46
C
J4
PTD0/TACH0/BEMF
PTD1/TACH1
25
1IRQ_IN
2IRQ_RQ
PTB1/AD1
PTB3/AD3
PTB4/AD4
PTB5/AD5
PTB6/AD6/TBCH0
PTB7/AD7/TBCH1
5
4
9
B
31
HB1
PTE1/RxD
RxD
12
13
RST
27
LIN
11
8
7
SensorA1 6
SensorA2 2
1
J2
5
42
41
SSB
C
D
4
20
GND
POWER_HDR4
3
VSUP
U1
24
4
C3
100n
VSUP
2
2
C2
330u/35
VSUP
3VSUP_LIN
GND
1
30
J1
D
1
Freescale Semiconductor, Inc...
Freescale Semiconductor, Inc.
R4
1k5
VSS_A
GC1
CON
B
D1
LED_YELL
PM908E625ACDWB
HDR 2X1
GND
GC3
CON
Motorola MCSL Roznov
1. maje 1009
756 61 Roznov p. R., Czech Republic, Europe
A
Title
Author:
Libor Prokop
Size Schematic Name: 00166_03
CustomDesign File Name:
D:\R30322_MC159VIEW\MC\MC159\HW\00166_03\00166_03.DSN
Modify Date: Monday, October 06, 2003
Sheet
of
1
Copyright Motorola
POPI Status: General Business
2003
5
4
3
A
LIN HID Lamp Actuator
2
Rev
1.0
1
1
Figure A-2. LIN Enhanced Stepper Board Schematic
Designer Reference Manual
94
DRM047 — Rev 0
Hardware Schematics
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Designer Reference Manual — DRM047
Appendix B. 908E625 Advantages and Features
Freescale Semiconductor, Inc...
This general purpose IC from Motorola has been developed as a highly
integrated and cost-effective solution for load driving within intelligent
LIN distributed architectures. It is especially suited to the control of
automotive mirror, door-lock, and light-levelling applications.
Figure B-1. 908E625 Simplified Block Diagram
This device is a multi-chip combination within a 54-lead Small Outline
Integrated Circuit (SOIC) package. It consists of a standard HC08 MCU
chip with SCI, SPI, internal oscillator, and FLASH memory, plus a Power
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Designer Reference Manual
908E625 Advantages and Features
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Freescale Semiconductor, Inc.
908E625 Advantages and Features
Die with four half-bridges and one high-side switch with diagnostic
functions combined with Hall sensor and analog inputs, a LIN physical
layer, and a voltage regulator.
Freescale Semiconductor, Inc...
908E625 Features:
•
Multi-chip combination within a 54-lead SOIC package
•
High-performance M68HC08 core
•
16K bytes of on-chip FLASH memory
•
512 bytes of RAM
•
Internal clock generation module
•
16-bit, 2-channel timet
•
10-bit analog-to-digital converter (ADC)
•
LIN physical layer interface
•
Three 2-pin Hall sensor inputs
•
One analog input with switchable current source
•
Four low-resistive half-bridge outputs with current limitation
•
One low-resistive high-side output
•
14 microcontroller I/Os
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96
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908E625 Advantages and Features
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Freescale Semiconductor, Inc.
Designer Reference Manual — DRM047
Appendix C. LIN Frames and Signals
This section describes LIN messaging with the frames, signals and the
LIN Stepper Controller functionality.
C.1 LIN Leveller Basic Frames
Figure C-1 describes the LIN Leveller signals and frames.
NOTE:
The LIN messaging scheme, with exact signal description and updated
according to latest software modifications, is described in the file
Messaging_LIN_Levellew.xls which is provided with the application
software files.
The signal provider is the node that sends the response fields
(Section 9. References, 2) of the described frame. The signal acceptor
is the node that is programmed to act on the received frame (see
Section 4.1. Axis and Signal Providers and Acceptors).
The column Signal Functionality Description describes the LIN
Stepper Controller functionality according to the described signal. The
raw value range is the range of the signal in system units. Although the
LIN API specifies the unsigned signals, some signals (e.g. position) have
signed representation. The normalized value is a physical
representation of the signal (variable).
NOTE:
The normalized value range is determined by the scaling factor. The
scaling constants RESOLUTION_FREQUENCY_HZ,
RESOLUTION_PERIOD_NS are defined and can be changed in the LIN
Stepper software header files.
See Sections 6.3.1, 6.3.2, 6.3.3, and 6.3.4 for information about scaling.
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LIN Frames and Signals
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LIN Frames and Signals
Table C-1. LIN Leveller Messaging
Signal
Provi
der
Signal
Accep
tor(s)/
Axis
Frame Name
(ID)
Signal Name
Signal Functionality Description
Raw
Value
Range
l_u16_rd_positionReqA1
Required absolute Position. The LIN
Stepper Controller acceptor provides
automatic control of the actual
position to this value
<0xC000,
0x3FFF>
<-16384,
16383>
l_u8_rd_frequencyReqA1
Required Frequency. The LIN Stepper
Controller acceptor provides
automatic position control with motor
actual stepping frequency trying to
ramp up (or down) to the Required
Frequency.
x=
<0x00,
0xFF>
f(x) =
RESOLU
TION_FR
EQUENC
Y_HZ *x
[Hz]
Clear Error Flag. The LIN Stepper
Controller acceptor provides all
system error clear
0 False
1 True
l_bool_rd_AppInitFlagA1
Application Initialization Flag. The LIN
Stepper Controller acceptor puts all
processes to the application
initialization state. The actual
position is not initialized in this state.
For details see Section 6.1.2.
Position and Speed Control
Caution: The application init. state is
unconditionally entered even if the
motor is not stopped. This can cause
the actual position to be lost.
0 False
1 True
l_bool_rd_PosResetFlagA1
Position Reset Flag. The LIN Stepper
Controller acceptor provides motor
position reset.
This position reset is described below:
- software controls the motor
stepping to the
positionResetRqValue.
- mechanical stall keeps the motor at
defined position (even the electrical
stepping is in progress)
- after actual position counter
reaches the positionResetRqValue,
the software sets the counter to
positionStall
For details see Section 6.1.2.
Position and Speed Control
Note: There can be other requirements
to control the motor to a reset
position, e.g. using stall detection or
Hall sensor. These were not used in
current software but can be easily
implemented on LIN Stepper
Controller
0
1
frmPosCmdA1
(0x20)
A1_1
A1_2
l_bool_rd_flagClrA1
Master
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Normalized
Value
Range
0-False
1-True
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LIN Frames and Signals
LIN Leveller Basic Frames
Table C-1. LIN Leveller Messaging (Continued)
Signal
Provi
der
Signal
Accep
tor(s)/
Axis
Frame Name
(ID)
Signal Name
Light On Flag. The LIN Stepper
Controller acceptor controls the High
Side switch of the power output. So
the connector J3 pin 6 can be used
for the light on/off control
Master
A1_1
A1_2
frmPosCmdA1
(0x20)
Master
A2
frmPosCmdA2
(0x23)
same as frmPosCmdA1
but the acceptor is A2
Master
A3
frmPosCmdA3
(0x25)
same as frmPosCmdA1
but the acceptor is A3
l_bool_rd_LightOnFlagA1
l_u16_wr_positionActA1_1
A1_1
Master
Actual absolute Position. The LIN
Stepper Controller provider sends the
actual position of the position counter
l_u8_wr_frequencyActA1_1
Actual Frequency. The LIN Stepper
Controller provider sends the
actual motor stepping frequency
l_u8_wr_uAppFlags1A1_1
Application status Flags #1 The LIN
Stepper Controller provider sends
the status byte with the flags
bit0 StepRun - motor is stepping = run
bit1 StopTimeout - stop timeout (after
stepping before setting motor block)
bit2 PositPark - motor is actually
stopped with actual position =
positionPark
bi3 PositResetDone - position reset
was provided after last MCU reset
bit4 AppInitDone - application
initializationflag
0 - initialization started
1 - initialization done
bit5 LightOn - light (Hight side switch
on the connector J3 pin 6) set to on
bit6 StallDetected - NOT
IMPLEMENTED stall detected
bit7RotDirSign - motor rotation
direction signature
1 - actual position decremented
0 - actual position incrementing
frmPosStatusA1_1
(0x21)
A1_2
Master
frmPosStatusA1_2
(0x22)
same as frmPosStatusA1_1
but the signal provider is A1_2
A2
Master
frmPosStatusA2
(0x24)
same as frmPosStatusA1_1
but the signal provider is A2
A3
Master
frmPosStatusA3
(0x26)
same as frmPosStatusA1_1
but the signal provider is A3
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Raw
Value
Range
Signal Functionality Description
Normalized
Value
Range
0
1
0-HS OFF
1-HS ON
<0xC000,
0x3FFF>
<-16384,
16383>
x=
<0x00,
0xFF>
f(x) =
RESOLU
TION_FR
EQUENC
Y_HZ *
x
[Hz]
0
1
0 - False
1 - True
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LIN Frames and Signals
Table C-1. LIN Leveller Messaging (Continued)
Signal
Provi
der
A1_1
Signal
Accep
tor(s)/
Axis
Master
Frame Name
(ID)
Signal Name
Signal Functionality Description
l_u8_wr_AppErrFlagsA1_1
Application Error Flags. The LIN
Stepper Controller provider sends
the error byte with the flags
bit0 HighTemperature - Power Die
over temperature
bit1 HB_OverCur - H-bridge
overcurrent flag
bit2 HighVoltage - H-bridge high
voltage
bit3 LowVoltage - H-bridge low
voltage
bit4 PowerDieError - Power Die error
bit5 LINTxRxError - NOT
IMPLEMENTED
bit6 SICurrLim - serial input current
limitation
bit7 StopSpeedError - speed was too
enough when motor stopped
(possible loss of the step - used for
software debugging)
l_u8_wr_analogValueA1_1
NOT IMPLEMENTED - any analog
value like temperature, DC bus
voltage, etc. can be send out from
the LIN Stepper Controller provider
frmAppStatusA1_1
(0x1C)
A1_2
Master
frmAppStatusA1_2
(0x1D)
same as frmAppStatusA1_1
but the signal provider is A1_2
A2
Master
frmAppStatusA2
(0x1E)
same as frmAppStatusA1_1
but the signal provider is A2
A3
Master
frmAppStatusA3
(0x1F)
same as frmAppStatusA1_1
but the signal provider is A3
Raw
Value
Range
0
1
Normalized
Value
Range
0 - False
1 - True
C.2 Node ID
The controlled axis specifies the relation to the LIN basic messages;
each LIN Stepper Controller node relation to LIN messaging is specified
by two parameters
•
the configured axis
•
exclusive Node ID
The Node ID is used for configuration. The LIN Master Request and
Slave Response Frames (Command frames) used for configuration are
broadcast frames (each slave node acts upon them). We must
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LIN Frames and Signals
LIN Leveller Configuration Frames
distinguish the nodes when using Appendix C.3. LIN Leveller
Configuration Frames.
NOTE:
The default node ID settings of the LIN Stepper software reflect the
configured axis; so, Axis3 has node ID = 4, Axis2 has node ID = 3,
Axis1_2 has node ID = 2, Axis1_1 has node ID = 1. However, both the
configuration axis and the node ID can be independently changed in the
software or during configuration. The user must guarantee that there will
be no other nodes with the same node ID connected to one LIN-bus.
C.3 LIN Leveller Configuration Frames
The Master Request and Slave Response frames were used for the LIN
Stepper Controller configuration. The configuration allows, on LIN,
adaptation of the LIN Stepper software. Each configuration frame is
used to configure the LIN Stepper Controller with node ID equal to the
l_u8_rd_nodeID signal (see Appendix C.3. LIN Leveller
Configuration Frames).
The configuration process covers two functions:
1. Parameters Configuration
Provides upload and download of the control parameters from and
to paramRAM structure. The paramArray variable with a
dedicated signal l_u8_rd_paramArray defines the section of the
parameters sent in four data signals l_u8_rd_datax. It is also
described in Section 6.1.8. Config Param. Before the Store
service, the parameters updated in the configuration are stored in
paramRAM volatile structure.
The service l_u8_rd_service = Store (FLASH) provides storing of
all RAM parameters arrays = paramRAM to paramROM. The
paramROM is in the FLASH memory and is copied to the
paramRAM after any MCU reset.
The service l_u8_rd_service = MCU Reset forces the reset of
dedicated LIN Stepper Controller
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2. LIN Reconfiguration
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Changes the dedicated LIN Stepper Controller configuration. It
sets its LIN driver to select the frames and signals according to the
defined axis. The axis are described in Section 4.1. Axis and
Signal Providers and Acceptors. The LIN driver filters out the
messages dedicated for other controlled axis. The LIN
reconfiguration is also described in the Section 6.1.9. Reconfig
LIN.
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LIN Frames and Signals
LIN Leveller Configuration Frames
Table C-2. LIN Leveller Configuration Frames
Signal
Provi
der
Master
Signal
Accep
tor(s)/
Axis
broad
cast
Frame
Name
(ID)
Signal Functionality Description
Raw
Value
Range
Normalized Value Range
l_u8_rd_service
Service Byte. Specifies the Master
Request Frame service. The
application uses this Command
Frame user defined service as
specified in Section 9. References,
2.
The service byte determines the
meaning of the next signals in the
frmMasterRequest frame
0x00
<0x01,
0x7F>
0x80
0x81
0x82
0x83
0x84
0x00 - Sleep
<0x01 - 0x7F> Reserved
0x80 Upload parameters
(S->M)
(prior frmSlaveResponse)
0x81 Download
parameters (M->S)
0x82 Store (FLASH)
0x83 MCU Reset
0x84 LIN Reconfig
l_u8_rd_nodeID
Node ID. Configuration of Each LIN
Stepper Controller node is
determined by the node ID (see
Appendix C.3. LIN Leveller
Configuration Frames).
With the exception of the Sleep
Service the node reacts only if the
l_u8_rd_nodeID is equal with the
defined nodeID parameter.
<0,
0xFF>
<0,255>
l_u8_rd_configLINAxis
config. Axis. This signal is used only
for LIN Reconfig.
If any node
Node ID parameter = l_u8_rd_nodeID
and l_u8_rd_service = LIN Reconfig
the node is reconfigured to the defined
axis
(see Section 6.1.9. Reconfig LIN
and Section 4.1. Axis and Signal
Providers and Acceptors).
0x00
0x01
0x02
0x03
<0x04,
0xFF>
l_u8_rd_paramArray
If any node
Node ID parameter = l_u8_rd_nodeID
and l_u8_rd_service = Download
respectively
and l_u8_rd_service = upload
the following data signals
l_u8_rd_datax addresses the space
defined by l_u8_rd_paramArray
as shown in Figure C-1
0x00
0x01
0x02
0x03
Signal Name
frmMaster
Request
(0x3C)
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0x00 - A1_1
0x01 - A1_2
0x02 - A2
0x03 - A3
<0x04,
0xFF> - Reserved
0-PARAMS_CONFIG
1-PARAM_SPEED
2-PARAM_RESET_POS
3PARAM_PARK_POSITIO
N
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Table C-2. LIN Leveller Configuration Frames (Continued)
Signal
Provi
der
Signal
Accep
tor(s)/
Axis
Frame
Name
(ID)
Signal Name
Signal Functionality Description
Raw
Value
Range
Normalized Value Range
in case paramArray = 0 [PARAMS_CONFIG] the data signals has the below described meaning
Master
broad
cast
l_u8_rd_data0
the signal is interpreted according to
the l_u8_rd_paramArray signal
(paramArray = 0)
node ID. This signal changes current
Stepper Controller node ID to this
new node ID.
Caution: Beginning the next
configuration frames. the configured
node will react only when the signal
l_u8_rd_nodeID = this new node ID
<0,0xF
F>
<0,255>
l_u8_rd_data1
the signal is interpreted according to
the l_u8_rd_paramArray signal
(paramArray = 0)
uAppConfiByte1
bit3 - RotDir24AtPosit - motor
rotation direction at motor positive
direction signature (flag
RotDirSign) is phase HB2 -> HB4
bit6 - AccelEnbl - motor speed
Acceleration Enabled
bit7 - FulllStep - full step stepper
operation
(1 - full stepping
0 - half stepping)
0
1
0 - False
1 - True
frmMaster
Request
(0x3C)
l_u8_rd_data2
l_u8_rd_data3
the signal is interpreted according to
the l_u8_rd_paramArray signal
(paramArray = 0)
currentBlockRun defines the current
limitation when motor is running or
stopped
0xZ0
0xZ1
0xZ2
0xZ3
0xZ4
0xZ5
0xZ6
0xZ7
Block current Limitation:
0x0Y off (no current)
0x1Y no limitation
0xZ2 no limitation
0x3Y 60mA
0x4Y 250mA
0x5Y 350mA
0x6Y 500mA
0x7Y 700mA
Run current Limitation:
0xZ0 no limitation
0xZ1 no limitation
0xZ2 no limitation
0xZ3 60mA
0xZ4 250mA
0xZ5 350mA
0xZ6 500mA
0xZ7 700mA
the signal is interpreted according to
the l_u8_rd_paramArray signal
(paramArray = 0)
data0_3 - RESERVED
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0x1Y
0xZ2
0x3Y
0x4Y
0x5Y
0x6Y
0x7Y
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LIN Frames and Signals
LIN Leveller Configuration Frames
Table C-2. LIN Leveller Configuration Frames (Continued)
Signal
Provi
der
Signal
Accep
tor(s)/
Axis
Frame
Name
(ID)
Signal Name
Signal Functionality Description
Raw
Value
Range
Normalized Value Range
in case paramArray = 1 [PARAM_SPEED] the data signals has the below described meaning
Master
broad
cast
frmMaster
Request
(0x3C)
l_u8_rd_data0
the signal is interpreted according to
the l_u8_rd_paramArray signal
(paramArray = 1)
frequencyStart
is the minimum frequency of the
motor. The motor starts stepping
and ramps down to this frequency
before stop
x=
<0,255
>
f(x) = FREQUENCY_
RESOLUTION_HZ * x
[Hz]
l_u8_rd_data1
(paramArray = 1)
acceleration
is motor speed acceleration and
deceleration ramp constant
x=
<0,255
>
f(x) =
RESOLUTION_ACCEL_
DECEL_S_S2* x
[steps/s2]
l_u8_rd_data2
(paramArray = 1)
periodStopTimeoutL
time instant before the motor block
state after the motor stops
Low Byte
x.L =
<0,255
>
f(x) =
RESOLUTION_PERIOD
_NS* x.HL
[ns]
l_u8_rd_data3
(paramArray = 1)
periodStopTimeoutH
time instant before the motor block
state after the motor stops
High Byte
x.H=
<0,255
>
f(x) =
RESOLUTION_PERIOD_
NS* x.HL
[ns]
in case paramArray = 2 [PARAM_RESET_POS] the data signals has the below described meaning
Master
broad
cast
frmMaster
Request
(0x3C)
l_u8_rd_data0
(paramArray = 2)
positionStallL
position of the low stall used for
position reset (see Table C-1.
l_bool_rd_PosResetFlagA1)
High Byte
x.L=
<0x0,
0xFF>
x.HL =
<-16384, 16383>
l_u8_rd_data1
(paramArray = 2)
positionStallH
position of the low stall used for
position reset (see Table C-1.
l_bool_rd_PosResetFlagA1)
High Byte
x.H=
<0xC0,
0x3F>
x.HL =
<-16384, 16383>
l_u8_rd_data2
(paramArray = 2)
positionResetRqValueL
position reset value is used for
position reset (see Table C-1.
l_bool_rd_PosResetFlagA1)
Low Byte
x.L=
<0x00,
0xFF>
x.HL =
<-16384, 16383>
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Table C-2. LIN Leveller Configuration Frames (Continued)
Signal
Provi
der
Master
Signal
Accep
tor(s)/
Axis
broad
cast
Frame
Name
(ID)
frmMaster
Request
(0x3C)
Signal Name
l_u8_rd_data3
Signal Functionality Description
(paramArray = 2)
positionResetRqValueH
position reset value is used for
position reset (see Table C-1.
l_bool_rd_PosResetFlagA1)
Low Byte
Raw
Value
Range
Normalized Value Range
x.L=
<0xC0,
0x3F>
x.HL =
<-16384, 16383>
in case paramArray = 3 [PARAM_PARK_POSITION] the data signals has the below described meaning
Master
broad
cast
frmMaster
Request
(0x3C)
l_u8_rd_data0
(paramArray = 3)
positionParkL
position park is used for actual
position setting after MCU reset.
Therefore the master should set the
positionReq of each Stepper
Controller to this dedicated
positionPark before reset (and
power down). The Stepper
Controller indicates that
positionActual = positionPark with
PositPark flag
(see Table C-1. PositPark)
Low Byte
x.L=
<0x0,
0xFF>
x.HL =
<-16384, 16383>
l_u8_rd_data1
(paramArray = 3)
positionParkH
position park is used for actual
position setting after MCU reset.
Therefore the master should set the
positionReq of each Stepper
Controller to this dedicated
positionPark before reset (and
power down). The Stepper
Controller indicates that
positionActual = positionPark with
PositPark flag
(see Table C-1. PositPark)
High Byte
x.H=
<0xC0,
0x3F>
x.HL =
<-16384, 16383>
l_u8_rd_data2
(paramArray = 3)
positionCorrectionL
the relative position Correction is used
to correct the actual position by
sending this signals
Low Byte
x.L=
<0x00,
0xFF>
x.HL =
<-16384, 16383>
l_u8_rd_data3
(paramArray = 3)
positionCorrectionH
the relative position Correction is used
to correct the actual position by
sending this signals
High Byte
x.H=
<0xC0,
0x3F>
x.HL =
<-16384, 16383>
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LIN Leveller Configuration Frames
Table C-2. LIN Leveller Configuration Frames (Continued)
Signal
Provi
der
Signal
Accep
tor(s)/
Axis
Frame
Name
(ID)
Signal Name
Signal Functionality Description
Raw
Value
Range
Normalized Value Range
Master
The frame frmSlaveResponse provides the LIN Stepper Controller previously addressed (initiated) with
frmMasterRequest of
l_u8_rd_service = 0x80 Upload
l_u8_rd_nodeID = node ID parameter
slave
with node ID =
l_u8_rd_nodeID
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l_u8_wr_service
Service Byte. Specifies the Master
Request Frame service. The
application uses this Command
Frame user defined service as
specified in Section 9. References,
2.
The service byte
the meaning of the next signals in the
frmMasterRequest frame
0x00,
<0x01,
0x7F>,
0x80
0x00 - Sleep
<0x01,
0x7F> - Reserved
0x80 Upload parameters
(S->M)
l_u8_wr_nodeID
Node ID. Current LIN Stepper
Controller node ID (see
l_u8_rd_nodeID and
Appendix C.3. LIN Leveller
Configuration Frames).
<0,
0xFF>
<0,255>
l_u8_wr_configLINAxis
config Axis. Current LIN Stepper
Controller signal axis
(see l_u8_rd_configLINAxis,
Section 4.1. Axis and Signal
Providers and Acceptors,
Section 6.1.9. Reconfig LIN).
0x00
0x01
0x02
0x03
<0x04,
0xFF>
l_u8_wr_paramArray
l_u8_wr_paramArray =
l_u8_rd_paramArray of the
initiated frmMasterRequest
the following data signals
l_u8_wr_dataX addresses the
space defined by that
l_u8_rd_paramArray
according the Figure C-1.
0x00
0x01
0x02
0x03
l_u8_wr_dataX
same as
frmMasterRequest but
l_u8_rd_dataX data upload
see l_u8_rd_data0...
frmSlave
Response
(0x3D)
NOTE:
0x00 - A1_1
0x01 - A1_2
0x02 - A2
0x03 - A3
<0x04,
0xFF> - Reserved
0-PARAMS_CONFIG
1-PARAM_SPEED
2-PARAM_RESET_POS
3PARAM_PARK_POSITIO
N
see
frmMasterRequest,
l_u8_rd_data0...
the normalized value range is determined by scaling factor.
The scaling constants RESOLUTION_FREQUENCY_HZ and
RESOLUTION_PERIOD_NS are defined and can be changed in the LIN
Stepper software header files.
The parameters configuration uses addressing of the parameters
according to Figure C-1. There are four data signals in the Master
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Request and Slave response frames. The parameters space of these
data signals is addressed the parameters RAM according to paramArray
pointer.
paramRAM
BASE_ADDR_PARAM_RAM+0
l_u8_rd_paramAray
effective address =
BASE_ADDR_PARAM_RAM+
paramAray * 4+ X
l_u8_rd_data0
l_u8_rd_data1
l_u8_rd_data2
l_u8_rd_data3
nodeID
AppConfiByte1
currentBlockRun
RESERVED
frequencyStart
acceleration
periodStopTimeoutL
periodStopTimeoutH
positionStallL
positionStallH
positionResetReqL
positionResetReqH
positionParkL
positionParkH
positionCorrectionL
positionCorrectionH
paramROM
MCU
Reset
Store
(FLASH)
nodeID
AppConfiByte1
currentBlockRun
RESERVED
frequencyStart
acceleration
periodStopTimeoutL
periodStopTimeoutH
positionStallL
positionStallH
positionResetReqL
positionResetReqH
positionParkL
positionParkH
positionCorrectionL
positionCorrectionH
possible extension
possible extension
BASE_ADDR_PARAM_RAM+127
Figure C-1. Configuration Parameters Addressing
C.4 Possible Software Extension Programming via LIN
The principle of the parameters configuration could be possibly
enhanced via LIN-bus software programming. The software FLASH
memory could be split into two segments.
•
resident software segment with LIN driver
•
re-programmable software segment
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Possible Software Extension Programming via LIN
The resident constant software segment cannot be reprogrammed.
Since the LIN-bus communication and some control features are
necessary for the software download.
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The re-programmable software segment could be reprogrammed using
the same principle as the parameters configuration. So there is a RAM
space area up to 128 or even 256 bytes. This RAM area could be loaded
step by step using a configuration frame (similar to the one used for
parameters configuration). Each configuration frame would load four
data bytes in the RAM area. The FLASH memory with the code could be
split into areas (128 or 256). Each area could be step-by-step flashed
after the RAM space is fully loaded. This way any size of
re-programmable software segment in FLASH memory can be
programmed.
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Appendix D. LIN Stepper Software Data Variables
Table D-1 describes the LIN Stepper Controller data variables.
Table D-1. Stepper Controller Software Data Variables
Name
eAppState
Components
enumeration constants:
APP_INIT,
APP_RUN,
APP_POS_INIT,
APP_PREPARE_CONFIG
APP_CONFIG,
APP_PREPARE_SLEEP,
APP_SLEEP,
Description
Application State enumeration
Actual motor stepping Frequency union
Word
frequencyActLowHigh
Byte.High
Byte.Low
frequencyReq
Required motor stepping Frequency
HBCTL, eHBCTL
H-Bridge Control Register
in Power Die (see Section 9. References, 9)
HBOUT, eHBOUT
H-Bridge Output Register
in Power Die (see Section 9. References, 9)
IFR, erIFR
Interrupt Flag Register
in Power Die (see Section 9. References, 9)
IMR, erIMR
Interrupt Mask Register
in Power Die (see Section 9. References, 9)
periodStep
motor stepping Period
positionAct
Actual motor Position
positionreq
Required motor Position
POUT, erPOUT
Power Output register
in Power Die (see Section 9. References, 9)
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LIN Stepper Software Data Variables
Table D-1. Stepper Controller Software Data Variables (Continued)
Name
Components
Description
RAM structure with control parameters
See Table C-2, frmMasterRequest for details on
each component
sParameterRAM
positionCorrection
Motor Position Correction
positionPark
motor Parking/
position reset position
for position reset
positionResetRqValue
motor position Reset
Request position
for position reset
positionStall
motor Stall position
for position reset
periodStopTimeou
Period Stop Timeout after motor deceleration
acceleration
frequency acceleration constant
frequencyStart
motor Start/Minimum stepping frequency
data0_3
RESERVED
curentBlockRun
current limitation for motor block/run state
uAppConfigByte1
Application Configuration Byte #1
nodeID
uAppConfigByte1
sParameterROM
RotDir24AtPosit
Flag motor rotation direction at positive speed
HB2->HB4
AccelEnbl
Flag motor speed Acceleration Enabled
FullStep
Flag full step stepper operation
1 - full stepping
0 - half s
same as
sParameterRAM
SYSCTL, erSYSCTL
System Control Register
in Power Die (see Section 9. References, 9)
SYSSTAT, erSYSSTAT
System Status Register
in Power Die (see Section 9. References, 9)
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LIN Stepper Software Data Variables
Possible Software Extension Programming via LIN
Table D-1. Stepper Controller Software Data Variables (Continued)
Name
Components
Description
Application Error Flags register
See Table C-1, l_u8_wr_AppErrFlagsA1_1 for
details on each components
uAppErrFlags
HighTemperature
HTF Over Temperature Status Bit
HB_OverCur
HB_OCF H-Bridge Over Current Flag Bit\
HighVoltage
HVF H-Bridge High Voltage Bit
LowVoltage
LVF H-Bridge Low Voltage Bit
PowerDieError
Power Die error
LINTxRxError
NOT IMPLEMENTED
SICurrLim
serial input current limitation
StopSpeedError
speed was too enough when motor stopped
Application status Flags #1 register
See Table C-1, l_u8_wr_uAppFlags1A1_1 for
details on each components
uAppFlags1
StepRun
motor Running flag
StopTimeout
motor Stop Timeout flag
PositPark
motor is in Parking Position
PositResetDone
motor Position Reset Done
AppInitDone
Application Init Done
LightOn
Light On status
StallDetected
Not implemented
RotDirSign
motor rotation direction signature
Motor stepping Control Flags
uMotStepControlFlags
RotDir24
timeMotStep
rotation direction
HB2->HB4
Motor Controller Time
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Appendix E. System Setup
E.1 Hardware Setup
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The hardware setup depends on desired functionality of the whole
system. There are two main possible setups. The first is for a LIN HID
demo application (see Figure E-1), where the HID lamp position is
driven by a personal computer. The second setup is for programming
and debugging slave nodes (see Figure E-2). It is also controlled by a
PC. Both setups incorporate the following modules:
•
HID lamp system with two slave boards
•
Master board
•
Personal computer
•
Power supply +12 V, 5 A (the total power current is dependent on
the lamp; in this case it is less than 0,5 A)
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Personal Computer
Master Board
12V Power Supply
Slave Board
HID Lamp system
Figure E-1. LIN HID Demo Application
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System Setup
Jumper Settings of Master and Slave Boards
Slave Board
Power Supply
Master Board
Personal
Computer
Figure E-2. Programming and Debugging Application - Detail
E.2 Jumper Settings of Master and Slave Boards
The jumper settings depend on the desired device functionality and are
specified by Table E-1.
Table E-1. Master and Slave Boards Jumper Settings
System Setup
LIN HID demo application
Master Board jumper header
J2
Slave Board jumper header
JP1
Programming and Configuration
Jumper to position marked as PCM, Jumper to position marked as D,
click on the Reset button SW1
click on the Reset bottom SW1
Short jumper pins
Open jumper pins
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System Setup
E.3 Required Software Tools
The application requires the following software development tools:
•
Metrowerks CodeWarrior for HC08 microcontrollers, version 2.1
or later.
•
PEMICRO PROG08SZ Flash/EEprom Programmer HC08
devices using MON08, version 1.68
•
Metrowerks CodeWarrior for HC12 microcontrollers with BDM
support, version 2.0 or later.
•
Microsoft Internet Explorer
•
PC Master software tool
E.4 Building and Uploading the Application
the application software is delivered in the folder lin_leveller. The
master software is located in the sub folder lin_master. The slave
software is located in the sub folder lin_stepper.
E.4.1 LIN Master
The application software is delivered as the master.mcp project file with
main C-source master.c and main header master.h. Using Metrowerks
CodeWarrior for HC12, the executable file can be created. The
executable file is then downloaded into the MCU through the BDM
multilink hardware connected to the parallel port on the PC.
E.4.2 LIN Stepper (Slave) Controller
After successfully loading the master software, as described in the
previous section, configure the system as shown in Figure E-2 and
described in Section E.1. Hardware Setup.
The application software is delivered as the lin_stepper.mcp project file
with C-source and header files in the sub folder lin_stepper. Using
Metrowerks CodeWarrior, the executable S19 file lin_stepper.sx can be
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System Setup
Building and Uploading the Application
created in the folder lin_leveller\lin_stepper\bin. Prior to the compile,
the target must be set according to required the axis (see Figure E-3).
This sets the LIN signal drivers to receive the required signals.
The executable file is then downloaded into the MCU from the PC with
the support of LIN Master. All the jumpers must be connected according
to Table E-1. Master and Slave Boards Jumper Settings, under
Programming and Configuration).
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The software can be loaded using the PEMICRO PROG08SZ Flash
programmer. After the programmer is started, the page from Figure E-5
appears and the parameters must be set as shown.
NOTE:
The bootloader communication speed must be set to 19200 baud.
required slave Axis
Figure E-3. Metrowerks Compiler with lin_stepper.mcp
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System Setup
Depending on used PC serial port
Figure E-4. Bootloader Setting
E.5 Executing the LIN HID Demo Application
The LIN HID demo application is prepared for operation when connected
according to Figure E-1 in Appendix E.1. Hardware Setup, with
jumpers setting according to Appendix E.2. Jumper Settings of
Master and Slave Boards.
Run the PC Master tool on the PC via Master.pmp in the
...lin_leveller\lin_master\pc_master folder. Then set two present
Project/Options windows as shown Figure E-5 and Figure E-6.
NOTE:
The PC master software and Internet Explorer must be installed to be
able to run the Master.pmp.
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System Setup
Executing the LIN HID Demo Application
Depending on the PC serial port used
Figure E-5. Communication Page
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Figure E-6. Variables Source page
Now the system is prepared. Its control is described in the User Interface
Description.
NOTE:
Do not forget to click on the button RUN at the bottom right corner of the
control page, to start sending signals on the bus.
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